Reinforcement learning (RL) is a booming area in artificial intelligence. The applications of RL are endless nowadays, ranging from fields such as medicine or finance to manufacturing or the gaming industry. Although multiple works argue that RL can be key to a great part of intelligent vehicle control related problems, there are many practical problems that need to be addressed, such as safety related problems that can result from non-optimal training in RL. For instance, for an RL agent to be effective it should first cover all the situations during training that it may face later. This is often difficult when applied to the real-world. In this work we investigate the impact of RL applied to the context of intelligent vehicle control. We analyse the implications of RL in path planning tasks and we discuss two possible approaches to overcome the gap between the theorical developments of RL and its practical applications. Specifically, firstly this paper discusses the role of Curriculum Learning (CL) to structure the learning process of intelligent vehicle control in a gradual way. The results show how CL can play an important role in training agents in such context. Secondly, we discuss a method of transferring RL policies from simulation to reality in order to make the agent experience situations in simulation, so it knows how to react to them in reality. For that, we use Arduino Yún controlled robots as our platforms. The results enhance the effectiveness of the presented approach and show how RL policies can be transferred from simulation to reality even when the platforms are resource limited.

Creating an accurate awareness of the environment using laser scanners is a major challenge in robotics and auto industries. LiDAR (light detection and ranging) is a powerful laser scanner that provides a detailed map of the environment. However, efficient and accurate mapping of the environment is yet to be obtained, as most modern environments contain glass, which is invisible to LiDAR. In this paper, a method to effectively detect and localise glass using LiDAR sensors is proposed. This new approach is based on the variation of range measurements between neighbouring point clouds, using a two-step filter. The first filter examines the change in the standard deviation of neighbouring clouds. The second filter uses a change in distance and intensity between neighbouring pules to refine the results from the first filter and estimate the glass profile width before updating the cartesian coordinate and range measurement by the instrument. Test results demonstrate the detection and localisation of glass and the elimination of errors caused by glass in occupancy grid maps. This novel method detects frameless glass from a long range and does not depend on intensity peak with an accuracy of 96.2%.

The effective reproduction number ( R ) which signifies the number of secondary cases infected by one infectious individual, is an important measure of the spread of an infectious disease. Due to the dynamics of COVID-19 where many infected people are not showing symptoms or showing mild symptoms, and where different countries are employing different testing strategies, it is quite difficult to calculate the R , while the pandemic is still widespread. This paper presents a probabilistic methodology to evaluate the effective reproduction number by considering only the daily death statistics of a given country. The methodology utilizes a linearly constrained Quadratic Programming scheme to estimate the daily new infection cases from the daily death statistics, based on the probability distribution of delays associated with symptom onset and to reporting a death. The proposed methodology is validated in-silico by simulating an infectious disease through a Susceptible-Infectious-Recovered (SIR) model. The results suggest that with a reasonable estimate of distribution of delay to death from the onset of symptoms, the model can provide accurate estimates of R . The proposed method is then used to estimate the R values for two countries.

Recent deep learning frameworks draw strong research interest in application of ego-motion estimation as they demonstrate a superior result compared to geometric approaches. However, due to the lack of multimodal datasets, most of these studies primarily focused on single-sensor-based estimation. To overcome this challenge, we collect a unique multimodal dataset named LboroAV2 using multiple sensors, including camera, light detecting and ranging (LiDAR), ultrasound, e-compass and rotary encoder. We also propose an end-to-end deep learning architecture for fusion of RGB images and LiDAR laser scan data for odometry application. The proposed method contains a convolutional encoder, a compressed representation and a recurrent neural network. Besides feature extraction and outlier rejection, the convolutional encoder produces a compressed representation, which is used to visualise the network’s learning process and to pass useful sequential information. The recurrent neural network uses this compressed sequential data to learn the relationship between consecutive time steps. We use the Loughborough autonomous vehicle (LboroAV2) and the Karlsruhe Institute of Technology and Toyota Institute (KITTI) Visual Odometry (VO) datasets to experiment and evaluate our results. In addition to visualising the network’s learning process, our approach provides superior results compared to other similar methods. The code for the proposed architecture is released in GitHub and accessible publicly.

Emotion recognition in conversation is a challenging task because it requires an understanding of the contextual and linguistic aspects of a conversation. Emotion recognition in speech has been well studied, but in bi-directional or multi-directional conversations, emotions can be very complex, mixed, and embedded in context. To tackle this challenge, we propose a method that combines state-of-the-art RoBERTa (robustly optimized BERT pretraining approach) with a Bidirectional long short-term memory (BiLSTM) network for contextualized emotion recognition. RoBERTa is a transformer-based language model, which is an advanced version of the well-known BERT. We use RoBERTa features as input to a BiLSTM model that learns to capture contextual dependencies and sequential patterns in the input text. The proposed model is trained and evaluated on a Multimodal EmotionLines Dataset (MELD) to recognize emotions in conversation. The textual modality of the dataset is utilized for the experimental evaluation, with the weighted average F1 score and accuracy used as performance metrics. The experimental results indicate that the incorporation of a pre-trained transformer-based language model with a BiLSTM network significantly enhances the recognition of emotions in contextualized conversational settings.