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To collaborate effectively, the autonomous system must know the user\u2019s goal. As such, most prior works follow a predict-then-act model, first predicting the user\u2019s goal with high confidence, then assisting given that goal. Unfortunately, confidently predicting the user\u2019s goal may not be possible until they have nearly achieved it, causing predict-then-act methods to provide little assistance. However, the system can often provide useful assistance even when confidence for any single goal is low (e.g. move towards multiple goals). In this work, we formalize this insight by modeling shared autonomy as a partially observable Markov decision process (POMDP), providing assistance that minimizes the expected cost-to-go with an unknown goal. As solving this POMDP optimally is intractable, we use hindsight optimization to approximate. We apply our framework to both shared-control teleoperation and human\u2013robot teaming. Compared with predict-then-act methods, our method achieves goals faster, requires less user input, decreases user idling time, and results in fewer user\u2013robot collisions.<\/jats:p>","DOI":"10.1177\/0278364918776060","type":"journal-article","created":{"date-parts":[[2018,6,5]],"date-time":"2018-06-05T02:28:57Z","timestamp":1528165737000},"page":"717-742","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":172,"title":["Shared autonomy via hindsight optimization for teleoperation and teaming"],"prefix":"10.1177","volume":"37","author":[{"given":"Shervin","family":"Javdani","sequence":"first","affiliation":[{"name":"The Robotics Institute, Carnegie Mellon University, USA"}]},{"given":"Henny","family":"Admoni","sequence":"additional","affiliation":[{"name":"The Robotics Institute, Carnegie Mellon University, USA"}]},{"given":"Stefania","family":"Pellegrinelli","sequence":"additional","affiliation":[{"name":"ITIA-CNR, Institute of Industrial Technologies and Automation, National Research Council, Italy"}]},{"given":"Siddhartha S.","family":"Srinivasa","sequence":"additional","affiliation":[{"name":"The Robotics Institute, Carnegie Mellon University, USA"}]},{"given":"J. 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