程序内容产生的一个越来越普遍的研究领域是级别的创建：可用于形成更大级别的短片。先前的工作已经使用了基本串联来形成这些较大的级别。但是，即使这些段本身是可完整且形式良好的，串联也可能无法产生可完整的水平，并且可能导致游戏内结构破裂（例如，马里奥中的畸形管道）。我们使用三个基于瓷砖的游戏展示了这一点：一个侧滚动平台游戏，垂直平台游戏和自上而下的Roguelike。此外，我们提出了一个马尔可夫链和一个树搜索算法，该算法在两个级别的段之间找到了一个链接，该级别使用过滤器来确保链接段中的完整性和不间断的游戏内结构。我们进一步表明，这些链接适用于多段级别。我们发现这种方法可靠地找到段之间的链接，并且可以自定义以满足设计师的需求。

Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of tactile sensors makes them a perfect match for haptic feedback applications. In this paper, we propose a contact force estimation method using the vision-based tactile sensor DIGIT, and apply it to a position-force teleoperation architecture for force feedback. The force estimation is done by building a depth map for DIGIT gel surface deformation measurement and applying a regression algorithm on estimated depth data and ground truth force data to get the depth-force relationship. The experiment is performed by constructing a grasping force feedback system with a haptic device as a leader robot and a parallel robot gripper as a follower robot, where the DIGIT sensor is attached to the tip of the robot gripper to estimate the contact force. The preliminary results show the capability of using the low-cost vision-based sensor for force feedback applications.