Shared autonomy holds promise for improving the usability and accessibility of assistive robotic arms, but current methods often rely on costly expert demonstrations and lack the ability to adapt post-deployment. This paper introduces ILSA, an Incrementally Learned Shared Autonomy framework that continually improves its assistive control policy through repeated user interactions. ILSA leverages synthetic kinematic trajectories for initial pretraining, reducing the need for expert demonstrations, and then incrementally finetunes its policy after each manipulation interaction, with mechanisms to balance new knowledge acquisition with existing knowledge retention during incremental learning. We validate ILSA for complex long-horizon tasks through a comprehensive ablation study and a user study with 20 participants, demonstrating its effectiveness and robustness in both quantitative performance and user-reported qualitative metrics. Code and videos are available at https://ilsa-robo.github.io/.

Using geometric data analysis, our objective is the analysis of narrative, with narrative of emotion being the focus in this work. The following two principles for analysis of emotion inform our work. Firstly, emotion is revealed not as a quality in its own right but rather through interaction. We study the 2-way relationship of Ilsa and Rick in the movie Casablanca, and the 3-way relationship of Emma, Charles and Rodolphe in the novel {\em Madame Bovary}. Secondly, emotion, that is expression of states of mind of subjects, is formed and evolves within the narrative that expresses external events and (personal, social, physical) context. In addition to the analysis methodology with key aspects that are innovative, the input data used is crucial. We use, firstly, dialogue, and secondly, broad and general description that incorporates dialogue. In a follow-on study, we apply our unsupervised narrative mapping to data streams with very low emotional expression. We map the narrative of Twitter streams. Thus we demonstrate map analysis of general narratives.