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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
An Assessment of Safety-Based Driver Behavior Modeling in...
Awad Abdelhalim, Montasir Abbas · 2022-10-17 · via cs.RO updates on arXiv.org

Accurate representation of observed driving behavior is critical for effectively evaluating safety and performance interventions in simulation modeling. In this study, we implement and evaluate a safety-based Optimal Velocity Model (OVM) to provide a high-fidelity replication of safety-critical behavior in microscopic simulation and showcase its implications for safety-focused assessments of traffic control strategies. A comprehensive simulation model is created for the site of study in PTV VISSIM utilizing detailed vehicle trajectory information extracted from real-time video inference, which are also used to calibrate the parameters of the safety-based OVM to replicate the observed driving behavior in the site of study. The calibrated model is then incorporated as an external driver model that overtakes VISSIM's default Wiedemann 74 model during simulated car-following episodes. The results of the preliminary analysis show the significant improvements achieved by using our model in replicating the existing safety conflicts observed at the site of the study. We then utilize this improved representation of the status quo to assess the potential impact of different scenarios of signal control and speed limit enforcement in reducing those existing conflicts by up to 23%. The results of this study showcase the considerable improvements that can be achieved by utilizing data-driven car-following behavior modeling, and the workflow presented provides an end-to-end, scalable, automated, and generalizable approach for replicating the existing driving behavior observed at a site of interest in microscopic simulation by utilizing vehicle trajectories efficiently extracted via roadside video inference.