requires_approval; a human approves per action or grants scoped standing approvals (spec). The agent gets an immediate pending_approval acknowledgement and should treat it as a state to wait in, not a stall: the action becomes accepted on approval, or rejected (approval_denied, approval_timeout, or deadline_exceeded if its own deadline is shorter) otherwise. Best for low-frequency, high-stakes actions (navigation off-allowlist, force above a threshold, purchases).
Takeover — a human client is just another AWP agent: use session.transfer (AWP-EMB-003) to hand the embodiment to a teleop UI, then transfer back. In-flight agent actions end preempted, which the agent handles like any other lifecycle outcome.
Shadow mode — run the agent in an observer session (AWP-EMB-004) against the live world while a human drives; log what the agent would have submitted and compare against the human’s actions offline. Zero actuation risk, full evaluation signal.