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We introduce BridgeData V2, a large and diverse dataset of robotic manipulation behaviors designed to facilitate research on scalable robot learning. BridgeData V2 contains 60,096 trajectories collected across 24 environments on a publicly…
The safety and condition of transportation infrastructure has been at the forefront of national debates in recent times due to catastrophic bridge failures, but the issue has been a longstanding challenge for transportation agencies for…
Aerial security means performing security-aimed monitoring and surveillance operations with the help of airborne vehicles. This kind of activities suggest that human officers (security organizations, law enforcement, police etc.) would be…
Unmanaged hazards in dangerous construction environments proved to be one of the main sources of injuries and accidents. Hazard recognition is crucial to achieve effective safety management and reduce injuries and fatalities in hazardous…
Bridges are critical components of national infrastructure and smart cities. Therefore, smart bridge monitoring is essential for ensuring public safety and preventing catastrophic failures or accidents. Traditional bridge monitoring methods…
Recent advances in safety-critical risk-aware control are predicated on apriori knowledge of the disturbances a system might face. This paper proposes a method to efficiently learn these disturbances online, in a risk-aware context. First,…
Infrastructure inspection is becoming increasingly relevant in the field of robotics due to its significant impact on ensuring workers' safety. The harbor environment presents various challenges in designing a robotic solution for…
Monitoring bridge health using the vibrations of drive-by vehicles has various benefits, such as low cost and no need for direct installation or on-site maintenance of equipment on the bridge. However, many such approaches require labeled…
Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…
Anomaly object detection and classification are one of the main challenging tasks in computer vision and pattern recognition. In this paper, we propose a new method to automatically detect, localize and classify defects in concrete bridge…
Transportation systems often rely on understanding the flow of vehicles or pedestrian. From traffic monitoring at the city scale, to commuters in train terminals, recent progress in sensing technology make it possible to use cameras to…
AI-based systems can increasingly perform work tasks autonomously. In safety-critical tasks, human oversight of these systems is required to mitigate risks and to ensure responsibility in case something goes wrong. Since people often…
This paper reports a visible and thermal drone monitoring system that integrates deep-learning-based detection and tracking modules. The biggest challenge in adopting deep learning methods for drone detection is the paucity of training…
Railroad bridges are a crucial component of the U.S. freight rail system, which moves over 40 percent of the nation's freight and plays a critical role in the economy. However, aging bridge infrastructure and increasing train traffic pose…
With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement errors has become a difficult and essential part of modern…
Bridge inspection in Japan requires mandatory visual assessments every five years, yet qualitative damage ratings (levels a-e) assigned by different engineers exhibit significant inter-rater variability -- a critical barrier to consistent…
Designing robust machine learning systems remains an open problem, and there is a need for benchmark problems that cover both environmental changes and evaluation on a downstream task. In this work, we introduce AVOIDDS, a realistic object…
The tower crane is involving more automated and intelligent operation procedure, and importantly, the application of automation technologies to the safety issues is imperative ahead of the utilization of any other advances. Among diverse…
This paper presents the development of a multi-sensor user interface to facilitate the instruction of arc welding tasks. Traditional methods to acquire hand-eye coordination skills are typically conducted through one-to-one instruction…
Humans race drones faster than neural networks trained for end-to-end autonomous flight. This may be related to the ability of human pilots to select task-relevant visual information effectively. This work investigates whether neural…