Andrew Choi

Agency-Constrained Shared Autonomy for Prosthetic Grasp Selection: A Reproducible Offline Benchmark for Interactive AI in Assistive Robotics

Upper-limb prostheses increasingly combine user-intent decoding with contextual autonomy, improving robustness but risking reduced sense of agency when assistance overrides user control. We present agency-constrained shared autonomy (ACSA), which treats control authority as an ex...

Embodiment Envelopes: Calibrating Agency-Constrained Shared Autonomy in VR to Transfer to Wearable Prosthetic Augmentation

How can virtual studies of augmented body parts translate into wearable robotic augmentation with predictable embodiment outcomes? We propose Embodiment Envelopes: user-centered feasible action sets that bound how far shared autonomy may deviate from the user’s inferred intent. T...