To The Noise And Back: Diffusion For Shared Autonomy

Abstract

Shared autonomy is an operational concept in which a user and an autonomous agent collaboratively control a robotic system. It provides a number of advantages over the extremes of full-teleoperation and full-autonomy in many settings. Traditional approaches to shared autonomy rely on knowledge of the environment dynamics, a discrete space of user goals that is known a priori, or knowledge of the user's policy -- assumptions that are unrealistic in many domains. Recent works relax some of these assumptions by formulating shared autonomy with model-free deep reinforcement learning (RL). In particular, they no longer need knowledge of the goal space (e.g., that the goals are discrete or constrained) or environment dynamics. However, they need knowledge of a task-specific reward function to train the policy. Unfortunately, such reward specification can be a difficult and brittle process. On top of that, the formulations inherently rely on human-in-the-loop training, and that necessitates t

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