SARI: Sharing Autonomy across Repeated Interactions

Code repository for the IROS 2021 paper (Learning to share autonomy across repeated interaction) and THRI 2023 submission (SARI: Shared Autonomy across Repeated Interaction).

Overview

We use real robots for our simulations and user studies. The IROS work used a FrankaEmika Panda robot with custom code for socket connections and the THRI submission used both the Panda robot and a Universal Robots UR10. We used ROS to communicate with the UR10. The rest of the repository is organized as follows:

• IROS2021 contains archived code that was used for the experiments in the IROS submission.
• THRI2023 contains code that was developed for the new work developed for the THRI submission.