Uncertainty methods yield similar gating behavior once the base model exceeds a dataset-dependent competence threshold, but threshold selection dominates outcomes and semantic OOD detection stays near chance.
Shared autonomy via hindsight optimization for teleoperation and teaming,
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Confidence-Gated Robot Autonomy: When Does Uncertainty Actually Help?
Uncertainty methods yield similar gating behavior once the base model exceeds a dataset-dependent competence threshold, but threshold selection dominates outcomes and semantic OOD detection stays near chance.