  Teleoperated avatar robots allow people to transport their manipulation
skills to environments that may be difficult or dangerous to work in. Current
systems are able to give operators direct control of many components of the
robot to immerse them in the remote environment, but operators still struggle
to complete tasks as competently as they could in person. We present a
framework for incorporating open-world shared control into avatar robots to
combine the benefits of direct and shared control. This framework preserves the
fluency of our avatar interface by minimizing obstructions to the operator's
view and using the same interface for direct, shared, and fully autonomous
control. In a human subjects study (N=19), we find that operators using this
framework complete a range of tasks significantly more quickly and reliably
than those that do not.
