Erik Erikson (1902-1994) is known for his contributions on the study psychological development of humans, with very famous works focusing on teenagers and the development of personality.
Erikson divides lifetime in eight stages, and each of them a virtue is acquired. Each stage involves an identity crisis because to opposite forces would be operating. The crisis will be solved with the adquisition of the virtue.
The eight stages are the ones included in the picture attached. By observing stage number 3 it is possible to solve the question proposed: failure to develop autonomy over one's own actions is most closely identified with shame and doubt.
It is the second stage in lifetime, from 18 months to 3 years old, when the identity crisis is set between autonomy (the virtue) and shame/doubt, the opposing force that is challenging the appropiate development of the person in this stage. In this period, children discover talents and abilities. Shame or doubt would appear if the child feels incompetent at some point.