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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
NEFFY 2.0: A Breathing Companion Robot: User-Centered Des...
Ilona Buchem, Jessica Kazubski, Charly Goerke · 2026-03-06 · via cs.RO updates on arXiv.org

This paper presents the design of NEFFY 2.0, a social robot designed as a haptic slow-paced breathing companion for stress reduction, and reports findings from a mixed-methods user study with 14 refugees from Ukraine. Developed through a user-centered design process, NEFFY 2.0 builds on NEFFY 1.0 and integrates embodiment and multi-sensory interaction to provide low-threshold, accessible guidance of slow-paced breathing for stress relief, which may be particularly valuable for individuals experiencing prolonged periods of anxiety. To evaluate effectiveness, an experimental comparison of a robot-assisted breathing intervention versus an audio-only condition was conducted. Measures included subjective ratings and physiological indicators, such as heart rate (HR), heart rate variability (HRV) using RMSSD parameter, respiratory rate (RR), and galvanic skin response (GSR), alongside qualitative data from interviews exploring user experience and perceived support. Qualitative findings showed that NEFFY 2.0 was perceived as intuitive, calming and supportive. Survey results showed a substantially larger effect in significant reduction of perceived stress in the NEFFY 2.0 condition compared to audio-only. Physiological data reveled mixed results combined with large inter-personal variability. Three patterns of breathing practice with NEFFY 2.0 were identified using k-means clustering. Despite the small sample size, this study makes a novel contribution by providing empirical evidence of stress reduction in a vulnerable population through a direct comparison of robot-assisted and non-robot conditions. The findings position NEFFY 2.0 as a promising low-threshold tool that supports stress relief and contributes to the vision of HRI empowering society.