Disturbance of primary prospective motor control has been proposed to contribute to faults in higher mind functions of individuals with autism spectrum disorder, but little research has been conducted to characterize prospective control strategies in autism. In the current study, we applied pattern-classification analyses to kinematic features to verify whether children with autism spectrum disorder (ASD) and typically developing (TD) children altered their initial grasp in anticipation of self- and other-actions. Results indicate that children with autism adjusted their behavior to accommodate onward actions. The way they did so, however, varied idiosyncratically from one individual to another, which suggests that previous characterizations of general lack of prospective control strategies may be overly simplistic. These findings link abnormalities in anticipatory control with increased variability and offer insights into the difficulties that individuals with ASD may experience in social interaction.