Soft Soil Gait Planning and Control for Biped Robot using Deep Deterministic Policy Gradient Approach

Biped robots have plenty of benefits over wheeled, quadruped, or hexapod robots due to their ability to behave like human beings in tough and non-flat environments. Deformable terrain is another challenge for biped robots as it has to deal with sinkage and maintain stability without falling. In this study, we are proposing a Deep Deterministic Policy Gradient (DDPG) approach for motion control of a flat-foot biped robot walking on deformable terrain. We have considered a 7-link biped robot for our proposed approach. For soft soil terrain modeling, we have considered triangular Mesh to describe its geometry, where mesh parameters determine the softness of soil. All simulations have been performed on PyChrono, which can handle soft soil environments.

Understanding the Role of Affect Dimensions in Detecting Emotions from Tweets: A Multi-task Approach

We propose VADEC, a multi-task framework that exploits the correlation between the categorical and dimensional models of emotion representation for better subjectivity analysis. Focusing primarily on the effective detection of emotions from tweets, we jointly train multi-label emotion classification and multi-dimensional emotion regression, thereby utilizing the inter-relatedness between the tasks. Co-training especially helps in improving the performance of the classification task as we outperform the strongest baselines with 3.4%, 11%, and 3.9% gains in Jaccard Accuracy, Macro-F1, and Micro-F1 scores respectively on the AIT dataset. We also achieve state-of-the-art results with 11.3% gains averaged over six different metrics on the SenWave dataset. For the regression task, VADEC, when trained with SenWave, achieves 7.6% and 16.5% gains in Pearson Correlation scores over the current state-of-the-art on the EMOBANK dataset for the Valence (V) and Dominance (D) affect dimensions respectively. We conclude our work with a case study on COVID-19 tweets posted by Indians that further helps in establishing the efficacy of our proposed solution.

How Have We Reacted To The COVID-19 Pandemic? Analyzing Changing Indian Emotions Through The Lens of Twitter

Since its outbreak, the ongoing COVID-19 pandemic has caused unprecedented losses to human lives and economies around the world. As of 18th July 2020, the World Health Organization (WHO) has reported more than 13 million confirmed cases including close to 600,000 deaths across 216 countries and territories. Despite several government measures, India has gradually moved up the ranks to become the third worst-hit nation by the pandemic after the US and Brazil, thus causing widespread anxiety and fear among her citizens. As majority of the world's population continues to remain confined to their homes, more and more people have started relying on social media platforms such as Twitter for expressing their feelings and attitudes towards various aspects of the pandemic. With rising concerns of mental well-being, it becomes imperative to analyze the dynamics of public affect in order to anticipate any potential threats and take precautionary measures. Since affective states of human mind are more nuanced than meager binary sentiments, here we propose a deep learning-based system to identify people's emotions from their tweets. We achieve competitive results on two benchmark datasets for multi-label emotion classification. We then use our system to analyze the evolution of emotional responses among Indians as the pandemic continues to spread its wings. We also study the development of salient factors contributing towards the changes in attitudes over time. Finally, we discuss directions to further improve our work and hope that our analysis can aid in better public health monitoring.