Shared decision-making with cognitive priors

Systems, methods, and other embodiments described herein relate to integrating human decision-making into a model-based system. In one embodiment, a method includes acquiring sensor data, including driver data about a driver of a vehicle and driving data about the vehicle and a surrounding environment of the vehicle. The method includes encoding, using a world encoder, the sensor data into a latent representation. The method includes determining human decision-making characteristics according to the latent representation. The method includes generating a control signal for providing shared control of the vehicle according to the human decision-making characteristics and the latent representation.