Abstract
We present NeuroCommitSSM, a decision-centric framework that models when to execute, not just what to do, for safe commit-to-execute control in assistive robotic manipulation. NeuroCommitSSM predicts a continuous commit-readiness score c_t in [0,1] from synchronized electroencephalography (EEG), electromyography (EMG), and eye-tracking (ET), and converts it into discrete commit events through dwell and hysteresis filtering. A three-state finite-state supervisor, HOLD-ASSIST-COMMIT (HAC), gates execution by requiring both a sustained commit-readiness signal from the neural model and real-time perception and robot-state feasibility, including target visibility, inverse kinematics solvability, and collision-free planning, before initiating motion. We evaluate the framework on N=32 subjects performing five activities of daily living (ADL) tasks aligned with the International Classification of Functioning, Disability and Health (ICF), using leave-one-subject-out (LOSO) cross-validation and seven sensor-dropout scenarios (S0-S6). NeuroCommitSSM achieves 0.950 action-balanced accuracy with 0.75 false commit events per 1000 REST windows (FP/1k REST), and maintains low false commits and stable state transitions under sensor loss. For example, in the EEG-only condition, it achieves 0.785 balanced accuracy and 0.29 FP/1k REST, whereas the Temporal Convolutional Network baseline produces 99.95 FP/1k REST under the same condition. Hardware-in-the-loop (HIL) validation on a Kinova Gen3 arm shows that feasibility-checked execution reduces false starts and decision instability without sacrificing task success. Supplementary materials, including code, datasets, videos, and additional analyses, are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2607.15395
