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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
Investigating Fairness of Ocular Biometrics Among Young, ...
Anoop Krishnan, Ali Almadan, Ajita Rattani · 2021-10-05 · via cs.RO updates on arXiv.org

A number of studies suggest bias of the face biometrics, i.e., face recognition and soft-biometric estimation methods, across gender, race, and age groups. There is a recent urge to investigate the bias of different biometric modalities toward the deployment of fair and trustworthy biometric solutions. Ocular biometrics has obtained increased attention from academia and industry due to its high accuracy, security, privacy, and ease of use in mobile devices. A recent study in $2020$ also suggested the fairness of ocular-based user recognition across males and females. This paper aims to evaluate the fairness of ocular biometrics in the visible spectrum among age groups; young, middle, and older adults. Thanks to the availability of the latest large-scale 2020 UFPR ocular biometric dataset, with subjects acquired in the age range 18 - 79 years, to facilitate this study. Experimental results suggest the overall equivalent performance of ocular biometrics across gender and age groups in user verification and gender classification. Performance difference for older adults at lower false match rate and young adults was noted at user verification and age classification, respectively. This could be attributed to inherent characteristics of the biometric data from these age groups impacting specific applications, which suggest a need for advancement in sensor technology and software solutions.