{"id":"https://openalex.org/W7140296884","doi":"https://doi.org/10.48550/arxiv.2603.22787","title":"DiSCo: Diffusion Sequence Copilots for Shared Autonomy","display_name":"DiSCo: Diffusion Sequence Copilots for Shared Autonomy","publication_year":2026,"publication_date":"2026-03-24","ids":{"openalex":"https://openalex.org/W7140296884","doi":"https://doi.org/10.48550/arxiv.2603.22787"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.22787","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22787","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.22787","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130588900","display_name":"Andy Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Wang, Andy","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130566130","display_name":"Xu Yan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Xu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130578998","display_name":"Brandon McMahan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"McMahan, Brandon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130607247","display_name":"Michael Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Michael","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130610093","display_name":"Yuyang Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Yuyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130616454","display_name":"Johannes Y. Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Johannes Y.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128670073","display_name":"Ali Shreif","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shreif, Ali","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001701963","display_name":"Matthew Li","orcid":"https://orcid.org/0000-0002-6207-4940"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Matthew","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109521346","display_name":"Zhenghao Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Zhenghao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127865804","display_name":"Bolei Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Bolei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130555632","display_name":"Yuchen Cui","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cui, Yuchen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5084007033","display_name":"Jonathan C. Kao","orcid":"https://orcid.org/0000-0002-9298-0143"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kao, Jonathan C.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5130588900"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.3037000000476837,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.3037000000476837,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.10450000315904617,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.05719999969005585,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7217000126838684},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.637499988079071},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5724999904632568},{"id":"https://openalex.org/keywords/conformity","display_name":"Conformity","score":0.4869999885559082},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4756999909877777},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.3905999958515167},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36910000443458557}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7217000126838684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6384999752044678},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.637499988079071},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5724999904632568},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5095999836921692},{"id":"https://openalex.org/C142172996","wikidata":"https://www.wikidata.org/wiki/Q221284","display_name":"Conformity","level":2,"score":0.4869999885559082},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4756999909877777},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3905999958515167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37279999256134033},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36910000443458557},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.3650999963283539},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3537999987602234},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.3244999945163727},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.31610000133514404},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3005000054836273},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2962000072002411},{"id":"https://openalex.org/C8642999","wikidata":"https://www.wikidata.org/wiki/Q4171168","display_name":"Hyperparameter","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.27320000529289246}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.22787","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22787","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.22787","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22787","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8083532452583313}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Shared":[0],"autonomy":[1,32,74],"combines":[2],"human":[3],"user":[4,46,85,107],"and":[5,89,109,123],"AI":[6],"copilot":[7,42],"actions":[8,47,96],"to":[9,29,43,99,102],"control":[10],"complex":[11],"systems":[12],"such":[13],"as":[14],"robotic":[15,124],"arms.":[16],"When":[17],"a":[18,40,49,70],"task":[19,36,118],"is":[20,27],"challenging,":[21],"requires":[22],"high":[23],"dimensional":[24],"control,":[25],"or":[26],"subject":[28],"corruption,":[30],"shared":[31,62,73],"can":[33],"significantly":[34,57],"increase":[35],"performance":[37,60,119],"by":[38],"using":[39],"trained":[41],"effectively":[44],"correct":[45],"in":[48,120],"manner":[50],"consistent":[51,82],"with":[52,75,83,94,97,106],"the":[53,59,91],"user's":[54],"goals.":[55],"To":[56],"improve":[58],"of":[61,72],"autonomy,":[63],"we":[64],"introduce":[65],"Diffusion":[66],"Sequence":[67],"Copilots":[68],"(DiSCo):":[69],"method":[71],"diffusion":[76,92],"policy":[77],"that":[78,114],"plans":[79],"action":[80],"sequences":[81],"past":[84],"actions.":[86],"DiSCo":[87,115],"seeds":[88],"inpaints":[90],"process":[93],"user-provided":[95],"hyperparameters":[98],"balance":[100],"conformity":[101],"expert":[103],"actions,":[104],"alignment":[105],"intent,":[108],"perceived":[110],"responsiveness.":[111],"We":[112],"demonstrate":[113],"substantially":[116],"improves":[117],"simulated":[121],"driving":[122],"arm":[125],"tasks.":[126],"Project":[127],"website:":[128],"https://sites.google.com/view/disco-shared-autonomy/":[129]},"counts_by_year":[],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2026-03-26T00:00:00"}
