Safety risk assessment of subway shield construction under-crossing a river using CFA and FER.

Numerous subway projects are planned by China's city governments, and more subways can hardly avoid under-crossing rivers. While often being located in complex natural and social environments, subway shield construction under-crossing a river (SSCUR) is more susceptible to safety accidents, causing substantial casualties, and monetary losses. Therefore, there is an urgent need to investigate safety risks during SSCUR.

Learning physical characteristics like animals for legged robots.

Physical characteristics of terrains, such as softness and friction, provide essential information for legged robots to avoid non-geometric obstacles, like mires and slippery stones, in the wild. The perception of such characteristics often relies on tactile perception and vision prediction. Although tactile perception is more accurate, it is limited to close-range use; by contrast, establishing a supervised or self-supervised contactless prediction system using computer vision requires adequate labeled data and lacks the ability to adapt to the dynamic environment.

Learning to Avoid Obstacles With Minimal Intervention Control.

Programming by demonstration has received much attention as it offers a general framework which allows robots to efficiently acquire novel motor skills from a human teacher. While traditional imitation learning that only focuses on either Cartesian or joint space might become inappropriate in situations where both spaces are equally important (e.g.