Abstract: Vehicle occupant anomaly detection is provided. A system can receive sensor data from sensors associated with a vehicle, the sensors including an imaging sensor and the sensor data including 3D point representations of a vehicle occupant. The system can extract a time-series features of the vehicle occupant from the 3D point representations. The system can execute a machine learning model using the time-series features to determine at least one condition of the vehicle occupant. The system can, responsive to the condition, generate an instruction to cause the vehicle to perform a navigational action.