I. Introduction
A large variety of application areas involve robots operating alongside people. For example, robots can help people in domestic service, search and rescue, surgery and in driving vehicles. An important application area is assistive robotics, wherein the augmentation of human control of the robot with robotics autonomy (shared control) [1]–[5] can alleviate some of the control burden. One fundamental requirement for effective human-robot collaboration in shared control is human intent recognition. In order to meaningfully assist the human collaborator the robot has to correctly reason about the intended goal of the user from a number of potential task-relevant goals-known as the intent inference problem.