Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Natural Gradient Shared Control   We propose a formalism for shared control, which is the problem of defining a
policy that blends user control and autonomous control. The challenge posed by
the shared autonomy system is to maintain user control authority while allowing
the robot to support the user. This can be done by enforcing constraints or
acting optimally when the intent is clear. Our proposed solution relies on
natural gradients emerging from the divergence constraint between the robot and
the shared policy. We approximate the Fisher information by sampling a learned
robot policy and computing the local gradient to augment the user control when
necessary. A user study performed on a manipulation task demonstrates that our
approach allows for more efficient task completion while keeping control
authority against a number of baseline methods.

18
The categories of this paper are: econ
36
The categories of this paper are: cmp-lg
23
The categories of this paper are: solv-int
30
The categories of this paper are: q-alg
27
The categories of this paper are: comp-gas
9
The categories of this paper are: nlin
25
The categories of this paper are: patt-sol
32
The categories of this paper are: atom-ph
37
The categories of this paper are: supr-con
15
The categories of this paper are: nucl-ex
14
The categories of this paper are: math-ph
33
The categories of this paper are: plasm-ph
2
The categories of this paper are: math
17
The categories of this paper are: q-fin
35
The categories of this paper are: mtrl-th
10
The categories of this paper are: q-bio