HITL-D: Human In The Loop Diffusion Assisted Shared Control

arXiv:2605.21460v1 Announce Type: cross Abstract: Autonomous manipulation systems have achieved remarkable capabilities, yet the integration of human expertise with diffusion-based policies in shared control remains relatively unexplored. In this paper, we propose Human-In-The-Loop Diffusion (HITL-D), a shared control framework that enhances user performance in multi-step, insertion, and fine manipulation tasks. HITL-D leverages a novel combination of diffusion-based policies and human control t