We present and evaluate an approach for human-in-the-loop specification of shape reconstruction with annotations for basic robot-object interactions. Our method is based on the idea of model annotation: the addition of simple cues to an underlying object model to specify shape and delineate a simple task. The goal is to explore reducing the complexity of CAD-like interfaces so that novice users can quickly recover an object's shape and describe a manipulation task that is then carried out by a robot. The object modeling and interaction annotation capabilities are tested with a user study and compared against results obtained using existing approaches. The approach has been analyzed using a variety of shape comparison, grasping, and manipulation metrics, and tested with the PR2 robot platform, where it was shown to be successful.
In the work of @cite_56 , several tasks and trials were tested using crowdsourcing. Here, the annotation tasks were simple in order to allow testing the approach, and later integrated with the ultimate objective of completing pick-and-place tasks. They found that in many cases a single average worker'' produced poor results, but that by cleaning and averaging @math of them, high accuracy was obtained.
@cite_56
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Crowdsourcing is the de-facto standard for gathering annotated data. While, in theory, data annotation tasks are assumed to be attempted by workers independently, in practice, data annotation tasks are often grouped into batches to be presented and annotated by workers together, in order to save on the time or cost overhead of providing instructions or necessary background. Thus, even though independence is usually assumed between annotations on data items within the same batch, in most cases, a worker's judgment on a data item can still be affected by other data items within the batch, leading to additional errors in collected labels. In this paper, we study the data annotation bias when data items are presented as batches to be judged by workers simultaneously. We propose a novel worker model to characterize the annotating behavior on data batches, and present how to train the worker model on annotation data sets. We also present a debiasing technique to remove the effect of such annotation bias from adversely affecting the accuracy of labels obtained. Our experimental results on synthetic and real-world data sets demonstrate that our proposed method can achieve up to +57 improvement in F1-score compared to the standard majority voting baseline. Detecting and correcting low quality submissions in crowdsourcing tasks is an important challenge. Prior work has primarily focused on worker outcomes or reputation, using approaches such as agreement across workers or with a gold standard to evaluate quality. We propose an alternative and complementary technique that focuses on the way workers work rather than the products they produce. Our technique captures behavioral traces from online crowd workers and uses them to predict outcome measures such quality, errors, and the likelihood of cheating. We evaluate the effectiveness of the approach across three contexts including classification, generation, and comprehension tasks. The results indicate that we can build predictive models of task performance based on behavioral traces alone, and that these models generalize to related tasks. Finally, we discuss limitations and extensions of the approach. Crowdsourcing has attracted significant attention from the database community in recent years and several crowdsourced databases have been proposed to incorporate human power into traditional database systems. One big issue in crowdsourcing is to achieve high quality because workers may return incorrect answers. A typical solution to address this problem is to assign each question to multiple workers and combine workers’ answers to generate the final result. One big challenge arising in this strategy is to infer worker’s quality. Existing methods usually assume each worker has a fixed quality and compute the quality using qualification tests or historical performance. However these methods cannot accurately estimate a worker’s quality. To address this problem, we propose a worker model and devise an incremental inference strategy to accurately compute the workers’ quality. We also propose a question model and develop two efficient strategies to combine the worker’s model to compute the question’s result. We implement our method and compare with existing inference approaches on real crowdsourcing platforms using real-world datasets, and the experiments indicate that our method achieves high accuracy and outperforms existing approaches. Crowdsourcing systems, in which numerous tasks are electronically distributed to numerous “information pieceworkers”, have emerged as an effective paradigm for human-powered solving of large scale problems in domains such as image classification, data entry, optical character recognition, recommendation, and proofreading. Because these low-paid workers can be unreliable, nearly all crowdsourcers must devise schemes to increase confidence in their answers, typically by assigning each task multiple times and combining the answers in some way such as majority voting. In this paper, we consider a model of such crowdsourcing tasks and pose the problem of minimizing the total price (i.e., number of task assignments) that must be paid to achieve a target overall reliability. We give a new algorithm for deciding which tasks to assign to which workers and for inferring correct answers from the workers' answers. We show that our algorithm, based on low-rank matrix approximation, significantly outperforms majority voting and, in fact, is order-optimal through comparison to an oracle that knows the reliability of every worker. Crowdsourcing services, such as Amazon Mechanical Turk, allow for easy distribution of small tasks to a large number of workers. Unfortunately, since manually verifying the quality of the submitted results is hard, malicious workers often take advantage of the verification difficulty and submit answers of low quality. Currently, most requesters rely on redundancy to identify the correct answers. However, redundancy is not a panacea. Massive redundancy is expensive, increasing significantly the cost of crowdsourced solutions. Therefore, we need techniques that will accurately estimate the quality of the workers, allowing for the rejection and blocking of the low-performing workers and spammers. However, existing techniques cannot separate the true (unrecoverable) error rate from the (recoverable) biases that some workers exhibit. This lack of separation leads to incorrect assessments of a worker's quality. We present algorithms that improve the existing state-of-the-art techniques, enabling the separation of bias and error. Our algorithm generates a scalar score representing the inherent quality of each worker. We illustrate how to incorporate cost-sensitive classification errors in the overall framework and how to seamlessly integrate unsupervised and supervised techniques for inferring the quality of the workers. We present experimental results demonstrating the performance of the proposed algorithm under a variety of settings. Crowdsourcing has recently become popular among machine learning researchers and social scientists as an effective way to collect large-scale experimental data from distributed workers. To extract useful information from the cheap but potentially unreliable answers to tasks, a key problem is to identify reliable workers as well as unambiguous tasks. Although for objective tasks that have one correct answer per task, previous works can estimate worker reliability and task clarity based on the single gold standard assumption, for tasks that are subjective and accept multiple reasonable answers that workers may be grouped into, a phenomenon called schools of thought, existing models cannot be trivially applied. In this work, we present a statistical model to estimate worker reliability and task clarity without resorting to the single gold standard assumption. This is instantiated by explicitly characterizing the grouping behavior to form schools of thought with a rank-1 factorization of a worker-task groupsize matrix. Instead of performing an intermediate inference step, which can be expensive and unstable, we present an algorithm to analytically compute the sizes of different groups. We perform extensive empirical studies on real data collected from Amazon Mechanical Turk. Our method discovers the schools of thought, shows reasonable estimation of worker reliability and task clarity, and is robust to hyperparameter changes. Furthermore, our estimated worker reliability can be used to improve the gold standard prediction for objective tasks. Crowdsourcing is an effective tool for scalable data annotation in both research and enterprise contexts. Due to crowdsourcing's open participation model, quality assurance is critical to the success of any project. Present methods rely on EM-style post-processing or manual annotation of large gold standard sets. In this paper we present an automated quality assurance process that is inexpensive and scalable. Our novel process relies on programmatic gold creation to provide targeted training feedback to workers and to prevent common scamming scenarios. We find that it decreases the amount of manual work required to manage crowdsourced labor while improving the overall quality of the results. Crowdsourcing platforms emerged as popular venues for purchasing human intelligence at low cost for large volume of tasks. As many low-paid workers are prone to give noisy answers, a common practice is to add redundancy by assigning multiple workers to each task and then simply average out these answers. However, to fully harness the wisdom of the crowd, one needs to learn the heterogeneous quality of each worker. We resolve this fundamental challenge in crowdsourced regression tasks, i.e., the answer takes continuous labels, where identifying good or bad workers becomes much more non-trivial compared to a classification setting of discrete labels. In particular, we introduce a Bayesian iterative scheme and show that it provably achieves the optimal mean squared error. Our evaluations on synthetic and real-world datasets support our theoretical results and show the superiority of the proposed scheme. Crowdsourcing systems lack effective measures of the effort required to complete each task. Without knowing how much time workers need to execute a task well, requesters struggle to accurately structure and price their work. Objective measures of effort could better help workers identify tasks that are worth their time. We propose a data-driven effort metric, ETA (error-time area), that can be used to determine a task's fair price. It empirically models the relationship between time and error rate by manipulating the time that workers have to complete a task. ETA reports the area under the error-time curve as a continuous metric of worker effort. The curve's 10th percentile is also interpretable as the minimum time most workers require to complete the task without error, which can be used to price the task. We validate the ETA metric on ten common crowdsourcing tasks, including tagging, transcription, and search, and find that ETA closely tracks how workers would rank these tasks by effort. We also demonstrate how ETA allows requesters to rapidly iterate on task designs and measure whether the changes improve worker efficiency. Our findings can facilitate the process of designing, pricing, and allocating crowdsourcing tasks. Crowdsourcing systems, in which tasks are electronically distributed to numerous "information piece-workers", have emerged as an effective paradigm for human-powered solving of large scale problems in domains such as image classification, data entry, optical character recognition, recommendation, and proofreading. Because these low-paid workers can be unreliable, nearly all crowdsourcers must devise schemes to increase confidence in their answers, typically by assigning each task multiple times and combining the answers in some way such as majority voting. In this paper, we consider a general model of such crowdsourcing tasks, and pose the problem of minimizing the total price (i.e., number of task assignments) that must be paid to achieve a target overall reliability. We give a new algorithm for deciding which tasks to assign to which workers and for inferring correct answers from the workers' answers. We show that our algorithm significantly outperforms majority voting and, in fact, is asymptotically optimal through comparison to an oracle that knows the reliability of every worker. Online labor markets, such as Amazon's Mechanical Turk, have been used to crowdsource simple, short tasks like image labeling and transcription. However, expert knowledge is often lacking in such markets, making it impossible to complete certain classes of tasks. In this work we introduce an alternative mechanism for crowdsourcing tasks that require specialized knowledge or skill: communitysourcing --- the use of physical kiosks to elicit work from specific populations. We investigate the potential of communitysourcing by designing, implementing and evaluating Umati: the communitysourcing vending machine. Umati allows users to earn credits by performing tasks using a touchscreen attached to the machine. Physical rewards (in this case, snacks) are dispensed through traditional vending mechanics. We evaluated whether communitysourcing can accomplish expert work by using Umati to grade Computer Science exams. We placed Umati in a university Computer Science building, targeting students with grading tasks for snacks. Over one week, 328 unique users (302 of whom were students) completed 7771 tasks (7240 by students). 80 of users had never participated in a crowdsourcing market before. We found that Umati was able to grade exams with 2 higher accuracy (at the same price) or at 33 lower cost (at equivalent accuracy) than traditional single-expert grading. Mechanical Turk workers had no success grading the same exams. These results indicate that communitysourcing can successfully elicit high-quality expert work from specific communities. To ensure quality results from crowdsourced tasks, requesters often aggregate worker responses and use one of a plethora of strategies to infer the correct answer from the set of noisy responses. However, all current models assume prior knowledge of all possible outcomes of the task. While not an unreasonable assumption for tasks that can be posited as multiple-choice questions (e.g. n-ary classification), we observe that many tasks do not naturally fit this paradigm, but instead demand a free-response formulation where the outcome space is of infinite size (e.g. audio transcription). We model such tasks with a novel probabilistic graphical model, and design and implement LazySusan, a decision-theoretic controller that dynamically requests responses as necessary in order to infer answers to these tasks. We also design an EM algorithm to jointly learn the parameters of our model while inferring the correct answers to multiple tasks at a time. Live experiments on Amazon Mechanical Turk demonstrate the superiority of LazySusan at solving SAT Math questions, eliminating 83.2 of the error and achieving greater net utility compared to the state-ofthe-art strategy, majority-voting. We also show in live experiments that our EM algorithm outperforms majority-voting on a visualization task that we design. Crowdsourcing utilizes human ability by distributing tasks to a large number of workers. It is especially suitable for solving data clustering problems because it provides a way to obtain a similarity measure between objects based on manual annotations, which capture the human perception of similarity among objects. This is in contrast to most clustering algorithms that face the challenge of finding an appropriate similarity measure for the given dataset. Several algorithms have been developed for crowdclustering that combine partial clustering results, each obtained by annotations provided by a different worker, into a single data partition. However, existing crowdclustering approaches require a large number of annotations, due to the noisy nature of human annotations, leading to a high computational cost in addition to the large cost associated with annotation. We address this problem by developing a novel approach for crowclustering that exploits the technique of matrix completion. Instead of using all the annotations, the proposed algorithm constructs a partially observed similarity matrix based on a subset of pairwise annotation labels that are agreed upon by most annotators. It then deploys the matrix completion algorithm to complete the similarity matrix and obtains the final data partition by applying a spectral clustering algorithm to the completed similarity matrix. We show, both theoretically and empirically, that the proposed approach needs only a small number of manual annotations to obtain an accurate data partition. In effect, we highlight the trade-off between a large number of noisy crowdsourced labels and a small number of high quality labels. Allocating tasks to workers so as to get the greatest amount of high-quality output for as little resources as possible is an overarching theme in crowdsourcing research. Among the factors that complicate this problem is the lack of information about the available workers’ skill, along with unknown difficulty of the tasks to be solved. Moreover, if a crowdsourcing platform customer is limited to a fixed-size worker pool to complete a large batch of jobs such as identifying a particular object in a collection of images or comparing the quality of many pairs of artifacts in crowdsourcing workflows, she inevitably faces the tradeoff between getting a few of these tasks done well or getting many done poorly. In this paper, we propose a framework called JOCR (Joint Crowdsourcing, pronounced as “Joker”) for analyzing joint allocations of many tasks to a pool of workers. JOCR encompasses a broad class of common crowdsourcing scenarios, and we pose the challenge of developing efficient algorithms for it. Microtask crowdsourcing has enabled dataset advances in social science and machine learning, but existing crowdsourcing schemes are too expensive to scale up with the expanding volume of data. To scale and widen the applicability of crowdsourcing, we present a technique that produces extremely rapid judgments for binary and categorical labels. Rather than punishing all errors, which causes workers to proceed slowly and deliberately, our technique speeds up workers' judgments to the point where errors are acceptable and even expected. We demonstrate that it is possible to rectify these errors by randomizing task order and modeling response latency. We evaluate our technique on a breadth of common labeling tasks such as image verification, word similarity, sentiment analysis and topic classification. Where prior work typically achieves a 0.25x to 1x speedup over fixed majority vote, our approach often achieves an order of magnitude (10x) speedup. Worker reliability is a longstanding issue in crowdsourcing, and the automatic discovery of high quality workers is an important practical problem. Most previous work on this problem mainly focuses on estimating the quality of each individual worker jointly with the true answer of each task. However, in practice, for some tasks, worker quality could be associated with some explicit characteristics of the worker, such as education level, major and age. So the following question arises: how do we automatically discover related worker attributes for a given task, and further utilize the findings to improve data quality? In this paper, we propose a general crowd targeting framework that can automatically discover, for a given task, if any group of workers based on their attributes have higher quality on average; and target such groups, if they exist, for future work on the same task. Our crowd targeting framework is complementary to traditional worker quality estimation approaches. Furthermore, an advantage of our framework is that it is more budget efficient because we are able to target potentially good workers before they actually do the task. Experiments on real datasets show that the accuracy of final prediction can be improved significantly for the same budget (or even less budget in some cases). Our framework can be applied to many real word tasks and can be easily integrated in current crowdsourcing platforms. Crowdsourcing systems, in which numerous tasks are electronically distributed to numerous “information pieceworkers,” have emerged as an effective paradigm for human-powered solving of large-scale problems in domains such as image classification, data entry, optical character recognition, recommendation, and proofreading. Because these low-paid workers can be unreliable, nearly all such systems must devise schemes to increase confidence in their answers, typically by assigning each task multiple times and combining the answers in an appropriate manner, e.g., majority voting. In this paper, we consider a general model of such crowdsourcing tasks and pose the problem of minimizing the total price i.e., number of task assignments that must be paid to achieve a target overall reliability. We give a new algorithm for deciding which tasks to assign to which workers and for inferring correct answers from the workers' answers. We show that our algorithm, inspired by belief propagation and low-rank matrix approximation, significantly outperforms majority voting and, in fact, is optimal through comparison to an oracle that knows the reliability of every worker. Further, we compare our approach with a more general class of algorithms that can dynamically assign tasks. By adaptively deciding which questions to ask to the next set of arriving workers, one might hope to reduce uncertainty more efficiently. We show that, perhaps surprisingly, the minimum price necessary to achieve a target reliability scales in the same manner under both adaptive and nonadaptive scenarios. Hence, our nonadaptive approach is order optimal under both scenarios. This strongly relies on the fact that workers are fleeting and cannot be exploited. Therefore, architecturally, our results suggest that building a reliable worker-reputation system is essential to fully harnessing the potential of adaptive designs. Large-scale annotated datasets allow AI systems to learn from and build upon the knowledge of the crowd. Many crowdsourcing techniques have been developed for collecting image annotations. These techniques often implicitly rely on the fact that a new input image takes a negligible amount of time to perceive. In contrast, we investigate and determine the most cost-effective way of obtaining high-quality multi-label annotations for temporal data such as videos. Watching even a short 30-second video clip requires a significant time investment from a crowd worker; thus, requesting multiple annotations following a single viewing is an important cost-saving strategy. But how many questions should we ask per video? We conclude that the optimal strategy is to ask as many questions as possible in a HIT (up to 52 binary questions after watching a 30-second video clip in our experiments). We demonstrate that while workers may not correctly answer all questions, the cost-benefit analysis nevertheless favors consensus from multiple such cheap-yet-imperfect iterations over more complex alternatives. When compared with a one-question-per-video baseline, our method is able to achieve a 10 improvement in recall (76.7 ours versus 66.7 baseline) at comparable precision (83.8 ours versus 83.0 baseline) in about half the annotation time (3.8 minutes ours compared to 7.1 minutes baseline). We demonstrate the effectiveness of our method by collecting multi-label annotations of 157 human activities on 1,815 videos. Crowd-sourcing approaches such as Amazon's Mechanical Turk (MTurk) make it possible to annotate or collect large amounts of linguistic data at a relatively low cost and high speed. However, MTurk offers only limited control over who is allowed to particpate in a particular task. This is particularly problematic for tasks requiring free-form text entry. Unlike multiple-choice tasks there is no correct answer, and therefore control items for which the correct answer is known cannot be used. Furthermore, MTurk has no effective built-in mechanism to guarantee workers are proficient English writers. We describe our experience in creating corpora of images annotated with multiple one-sentence descriptions on MTurk and explore the effectiveness of different quality control strategies for collecting linguistic data using Mechanical MTurk. We find that the use of a qualification test provides the highest improvement of quality, whereas refining the annotations through follow-up tasks works rather poorly. Using our best setup, we construct two image corpora, totaling more than 40,000 descriptive captions for 9000 images. Crowdsourcing is a promising way to reduce the effort of collecting annotations for training gesture recognition systems. Crowdsourced annotations suffer from "noise" such as mislabeling, or inaccurate identification of start and end time of gesture instances. In this paper we present SegmentedLCSS and WarpingLCSS, two template-matching methods offering robustness when trained with noisy crowdsourced annotations to spot gestures from wearable motion sensors. The methods quantize signals into strings of characters and then apply variations of the longest common subsequence algorithm (LCSS) to spot gestures. We compare the noise robustness of our methods against baselines which use dynamic time warping (DTW) and support vector machines (SVM). The experiments are performed on data sets with various gesture classes (10-17 classes) recorded from accelerometers on arms, with both real and synthetic crowdsourced annotations. WarpingLCSS has similar or better performance than baselines in absence of noisy annotations. In presence of 60 mislabeled instances, WarpingLCSS outperformed SVM by 22 F1-score and outperformed DTW-based methods by 36 F1-score on average. SegmentedLCSS yields similar performance as WarpingLCSS, however it performs one order of magnitude slower. Additionally, we show to use our methods to filter out the noise in the crowdsourced annotation before training a traditional classifier. The filtering increases the performance of SVM by 20 F1-score and of DTW-based methods by 8 F1-score on average in the noisy real crowdsourced annotations.