SAPS: Shared Autonomy for Policy Steering by Blending Teleoperation with a Pretrained VLA
The SAPS framework blends real-time human teleoperation commands with pretrained Vision-Language-Action (VLA) policies to make robots more robust. It achieves this by mixing policy actions and human inputs at the action level, requiring no retraining or extra models. This method significantly improves robot performance over autonomous execution while reducing the need for constant human control.