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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
Human Centered Non Intrusive Driver State Modeling Using ...
David Puertas-Ramirez, Raul Fernandez-Matellan, David Martin Gom · 2026-04-13 · via cs.RO updates on arXiv.org

In vehicles with partial or conditional driving automation (SAE Levels 2-3), the driver remains responsible for supervising the system and responding to take-over requests. Therefore, reliable driver monitoring is essential for safe human-automation collaboration. However, most existing Driver Monitoring Systems rely on generalized models that ignore individual physiological variability. In this study, we examine the feasibility of personalized driver state modeling using non-intrusive physiological sensing during real-world automated driving. We conducted experiments in an SAE Level 2 vehicle using an Empatica E4 wearable sensor to capture multimodal physiological signals, including electrodermal activity, heart rate, temperature, and motion data. To leverage deep learning architectures designed for images, we transformed the physiological signals into two-dimensional representations and processed them using a multimodal architecture based on pre-trained ResNet50 feature extractors. Experiments across four drivers demonstrate substantial interindividual variability in physiological patterns related to driver awareness. Personalized models achieved an average accuracy of 92.68%, whereas generalized models trained on multiple users dropped to an accuracy of 54%, revealing substantial limitations in cross-user generalization. These results underscore the necessity of adaptive, personalized driver monitoring systems for future automated vehicles and imply that autonomous systems should adapt to each driver's unique physiological profile.