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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
RELAY: Robotic EyeLink AnalYsis of the EyeLink 1000 using...
Anna-Maria Felßberg, Dominykas Strazdas · 2022-06-03 · via cs.RO updates on arXiv.org

There is a widespread assumption that the peak velocities of visually guided saccades in the dark are up to 10~\% slower than those made in the light. Studies that questioned the impact of the surrounding brightness conditions, come to differing conclusions, whether they have an influence or not and if so, in which manner. The problem is of a complex nature as the illumination condition itself may not contribute to different measured peak velocities solely but in combination with the estimation of the pupil size due to its deformation during saccades or different gaze positions. Even the measurement technique of video-based eye tracking itself could play a significant role. To investigate this issue, we constructed a stepper motor driven artificial eye with fixed pupil size to mimic human saccades with predetermined peak velocity \& amplitudes under three different brightness conditions with the EyeLink 1000, one of the most common used eye trackers. The aim was to control the pupil and brightness. With our device, an overall good accuracy and precision of the EyeLink 1000 could be confirmed. Furthermore, we could find that there is no artifact for pupil based eye tracking in relation to changing brightness conditions, neither for the pupil size nor for the peak velocities. What we found, was a systematic, small, yet significant change of the measured pupil sizes as a function of different gaze directions.