Khanh Nguyen, Benjamin Plaut, Tu Trinh, and Mohamad Danesh introduce a fundamental coordination problem called Learning to Yield and Request Control (YRC), where the objective is to learn a strategy that determines when to act autonomously and when to seek expert assistance. They build an open-source benchmark featuring diverse domains, propose a novel validation approach, and investigate the performance of various learning methods across diverse environments, yielding insights that can guide future research.

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