# Customized Handling of Unintended Interface Operation in Assistive Robots

arXiv: https://arxiv.org/abs/2007.02092 · HTML: https://mlsanity.com/paper/2007.02092/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Jul 2020.

## Built on by (most cited first, 3 of 3)

- [Optimizing Algorithms From Pairwise User Preferences](https://mlsanity.com/paper/2308.04571/) (2023)
- [Estimating cognitive biases with attention-aware inverse planning](https://mlsanity.com/paper/2510.25951/) (2025)
- [Learning to Control Complex Robots Using High-Dimensional Interfaces: Preliminary Insights](https://mlsanity.com/paper/2110.04663/) (2021)

## Abstract (arXiv)

We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface during robot teleoperation and distinguish between intended and measured physical actions explicitly. By reasoning over the unobserved intentions using model-based inference techniques, our assistive system provides customized corrections on a user's issued commands. We validate our algorithm with a 10-person human subject study in which we evaluate the performance of the proposed assistance paradigms. Our results show that the assistance paradigms helped to significantly reduce task completion time, number of mode switches, cognitive workload, and user frustration and improve overall user satisfaction.