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Adaptive Shared Control with Online Bounded-Rational Human Behavior Estimation

arXiv · AI, language, vision and robotics · article · Sep 9, 2026 · UTC

This work considers adaptive shared human-robot control for nonlinear control-affine systems, where the assumption of a fully rational human is relaxed and the robot adapts its assistance to observed boundedly rational human behavior. We use a level-k bounded-rationality model of the two-player game to construct a finite bank of candidate human and robot policies through alternating best-response computations, with the associated value functions and policies approximated using adaptive dynamic programming. During the shared-control interaction, state-transition residuals compare the measured s

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