@inproceedings{escidoc:3400263,
  title = {Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies},
  booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)},
  pages = {5305--5311},
  publisher = {IEEE},
  address = {Piscataway, NJ},
  year = {2021},
  author = {Oh, Yoojin and Toussaint, Marc and Mainprice, Jim},
  doi = {10.1109/IROS51168.2021.9636049}
}