# EEG-Driven Intention Decoding: Offline Deep Learning Benchmarking on a Robotic Rover

arXiv: https://arxiv.org/abs/2602.20041 · HTML: https://mlsanity.com/paper/2602.20041/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 42 references that are in the map.
- First posted on arXiv 23 Feb 2026.

## Builds on (most cited first, 6 of 6)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [EEGNet: A Compact Convolutional Network for EEG-based Brain-Computer Interfaces](https://mlsanity.com/paper/1611.08024/) (2016)
- [TSception: Capturing Temporal Dynamics and Spatial Asymmetry from EEG for Emotion Recognition](https://mlsanity.com/paper/2104.02935/) (2021)
- [GANSER: A Self-supervised Data Augmentation Framework for EEG-based Emotion Recognition](https://mlsanity.com/paper/2109.03124/) (2021)
- [Few-Shot Transfer Learning for Individualized Braking Intent Detection on Neuromorphic Hardware](https://mlsanity.com/paper/2408.03336/) (2024)
- [EEG-Based Detection of Braking Intention During Simulated Driving](https://mlsanity.com/paper/2207.12669/) (2022)

## Abstract (arXiv)

Brain-computer interfaces (BCIs) provide a hands-free control modality for mobile robotics, yet decoding user intent during real-world navigation remains challenging. This work presents a brain-robot control framework for offline decoding of driving commands during robotic rover operation. A 4WD Rover Pro platform was remotely operated by 12 participants who navigated a predefined route using a joystick, executing the commands forward, reverse, left, right, and stop. Electroencephalogram (EEG) signals were recorded with a 16-channel OpenBCI cap and aligned with motor actions at Delta = 0 ms and future prediction horizons (Delta > 0 ms). After preprocessing, several deep learning models were benchmarked, including convolutional neural networks, recurrent neural networks, and Transformer architectures. ShallowConvNet achieved the highest performance for both action prediction and intent prediction. By combining real-world robotic control with multi-horizon EEG intention decoding, this study introduces a reproducible benchmark and reveals key design insights for predictive deep learning-based BCI systems.