Assigning repetitive and physically-demanding construction tasks to robots
can alleviate human workers's exposure to occupational injuries. Transferring
necessary dexterous and adaptive artisanal construction craft skills from
workers to robots is crucial for the successful delegation of construction
tasks and achieving high-quality robot-constructed work. Predefined motion
planning scripts tend to generate rigid and collision-prone robotic behaviors
in unstructured construction site environments. In contrast, Imitation Learning
(IL) offers a more robust and flexible skill transfer scheme. However, the
majority of IL algorithms rely on human workers to repeatedly demonstrate task
performance at full scale, which can be counterproductive and infeasible in the
case of construction work. To address this concern, this paper proposes an
immersive, cloud robotics-based virtual demonstration framework that serves two
primary purposes. First, it digitalizes the demonstration process, eliminating
the need for repetitive physical manipulation of heavy construction objects.
Second, it employs a federated collection of reusable demonstrations that are
transferable for similar tasks in the future and can thus reduce the
requirement for repetitive illustration of tasks by human agents. Additionally,
to enhance the trustworthiness, explainability, and ethical soundness of the
robot training, this framework utilizes a Hierarchical Imitation Learning (HIL)
model to decompose human manipulation skills into sequential and reactive
sub-skills. These two layers of skills are represented by deep generative
models, enabling adaptive control of robot actions. By delegating the physical
strains of construction work to human-trained robots, this framework promotes
the inclusion of workers with diverse physical capabilities and educational
backgrounds within the construction industry.

通过将重复且对人体有需求的建筑任务交给机器人，可以减少工人在职业伤害上的曝光。为了成功地将工人的巧妙而适应性的手工建筑工艺技能转移到机器人身上，我们提出了一种沉浸式云机器人虚拟演示框架，该框架数字化了演示过程，消除了对重型建筑物的重复物理操纵的需求，不仅如此，还利用了分层模仿学习（HIL）模型将人类操作技能分解为顺序和反应子技能，通过委派建筑工作的物理压力给经过人类训练的机器人，该框架促进了在建筑行业中包容具有不同体能和教育背景的工人。

基于云计算的层次化模仿学习：将建筑技能从人工劳动者转移至辅助机器人

Cloud-Based Hierarchical Imitation Learning for Scalable Transfer of  Construction Skills from Human Workers to Assisting Robots

The Metaverse is driving the next wave of innovation for new opportunities by
replacing the digital world (Internet) with the virtual world through a single,
shared, immersive, persistent 3D virtual space. In this paper, we present
requirements, architecture, standards, challenges, and solutions for Metaverse.
Specifically, we provide Metaverse architecture and requirements, and different
standards for Metaverse which serve as the basis for the development and
deployment. Moreover, we present recent status, challenges such as integration
of AI and Metaverse, security and privacy in Metaverse, etc., and perspectives
and solutions.

本文介绍了 Metaverse 的要求、架构、标准、挑战和解决方案。具体来说，我们提供了 Metaverse 的架构和要求，与 Metaverse 有关的不同标准，并介绍了近期的状况、难题，如 AI 和 Metaverse 的整合、Metaverse 中的安全和隐私等，以及展望和解决方案。

元界：需求、架构、标准、现状、挑战与展望

Metaverse: Requirements, Architecture, Standards, Status, Challenges, and Perspectives

A Metaverse is a perpetual, immersive, and shared digital universe that is
linked to but beyond the physical reality, and this emerging technology is
attracting enormous attention from different industries. In this article, we
define the first holistic realization of the metaverse in the mobility domain,
coined as ``metamobility". We present our vision of what metamobility will be
and describe its basic architecture. We also propose two use cases, tactile
live maps and meta-empowered advanced driver-assistance systems (ADAS), to
demonstrate how the metamobility will benefit and reshape future mobility
systems. Each use case is discussed from the perspective of the technology
evolution, future vision, and critical research challenges, respectively.
Finally, we identify multiple concrete open research issues for the development
and deployment of the metamobility.

本文提出了 “metamobility” 的概念，即在移动领域中实现了元宇宙的第一个完整的实现，并描述了其基本架构。我们提出了两个用例来展示元移动性如何受益和重塑未来的移动系统。最后，我们确定了多个具体的开放性研究问题以开发和部署元移动性。