As service robots become more and more capable of performing useful tasks for us, there is a growing need to teach robots how we expect them to carry out these tasks. However, different users typically have their own preferences, for example with respect to arranging objects on different shelves. As many of these preferences depend on a variety of factors including personal taste, cultural background, or common sense, it is challenging for an expert to pre-program a robot in order to accommodate all potential users. At the same time, it is impractical for robots to constantly query users about how they should perform individual tasks. In this work, we present an approach to learn patterns in user preferences for the task of tidying up objects in containers, e.g., shelves or boxes. Our method builds upon the paradigm of collaborative filtering for making personalized recommendations and relies on data from different users that we gather using crowdsourcing. To deal with novel objects for which we have no data, we propose a method that compliments standard collaborative filtering by leveraging information mined from the Web. When solving a tidy-up task, we first predict pairwise object preferences of the user. Then, we subdivide the objects in containers by modeling a spectral clustering problem. Our solution is easy to update, does not require complex modeling, and improves with the amount of user data. We evaluate our approach using crowdsourcing data from over 1,200 users and demonstrate its effectiveness for two tidy-up scenarios. Additionally, we show that a real robot can reliably predict user preferences using our approach.
To learn different user preferences, we collect data from many non-expert users using a crowdsourcing platform. Prior work has also leveraged crowdsourcing for data labeling or as an efficient platform for transferring human knowledge to robots, e.g., @cite_14 @cite_46 . For example, Sorokin2010 utilized crowdsourcing to teach robots how to grasp new objects @cite_40 . Moreover, several researchers have used crowdsourcing to facilitate learning manipulation tasks from large numbers of human demonstrations @cite_16 @cite_52 @cite_38 @cite_53 . In the context of learning user preferences, jain2015icra recently presented a new crowdsourcing platform where non-experts can label segments in robot trajectories as desirable or not @cite_35 . This is then used to learn a cost function for planning preferred robot trajectories in different indoor environments.
@cite_38 @cite_35 @cite_14 @cite_53 @cite_52 @cite_40 @cite_46 @cite_16
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We consider the problem of learning user preferences over robot trajectories for environments rich in objects and humans. This is challenging because the criterion defining a good trajectory varies with users, tasks and interactions in the environment. We represent trajectory preferences using a cost function that the robot learns and uses it to generate good trajectories in new environments. We design a crowdsourcing system - PlanIt, where non-expert users label segments of the robot's trajectory. PlanIt allows us to collect a large amount of user feedback, and using the weak and noisy labels from PlanIt we learn the parameters of our model. We test our approach on 122 different environments for robotic navigation and manipulation tasks. Our extensive experiments show that the learned cost function generates preferred trajectories in human environments. Our crowdsourcing system is publicly available for the visualization of the learned costs and for providing preference feedback: this http URL 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. In crowdsourcing systems, the interests of contributing participants and system stakeholders are often not fully aligned. Participants seek to learn, be entertained, and perform easy tasks, which offer them instant gratification; system stakeholders want users to complete more difficult tasks, which bring higher value to the crowdsourced application. We directly address this problem by presenting techniques that optimize the crowdsourcing process by jointly maximizing the user longevity in the system and the true value that the system derives from user participation. We first present models that predict the "survival probability" of a user at any given moment, that is, the probability that a user will proceed to the next task offered by the system. We then leverage this survival model to dynamically decide what task to assign and what motivating goals to present to the user. This allows us to jointly optimize for the short term (getting difficult tasks done) and for the long term (keeping users engaged for longer periods of time). We show that dynamically assigning tasks significantly increases the value of a crowdsourcing system. In an extensive empirical evaluation, we observed that our task allocation strategy increases the amount of information collected by up to 117.8 . We also explore the utility of motivating users with goals. We demonstrate that setting specific, static goals can be highly detrimental to the long-term user participation, as the completion of a goal (e.g., earning a badge) is also a common drop-off point for many users. We show that setting the goals dynamically, in conjunction with judicious allocation of tasks, increases the amount of information collected by the crowdsourcing system by up to 249 , compared to the existing baselines that use fixed objectives. Crowd-sourcing has become a popular means of acquiring labeled data for a wide variety of tasks where humans are more accurate than computers, e.g., labeling images, matching objects, or analyzing sentiment. However, relying solely on the crowd is often impractical even for data sets with thousands of items, due to time and cost constraints of acquiring human input (which cost pennies and minutes per label). In this paper, we propose algorithms for integrating machine learning into crowd-sourced databases, with the goal of allowing crowd-sourcing applications to scale, i.e., to handle larger datasets at lower costs. The key observation is that, in many of the above tasks, humans and machine learning algorithms can be complementary, as humans are often more accurate but slow and expensive, while algorithms are usually less accurate, but faster and cheaper. Based on this observation, we present two new active learning algorithms to combine humans and algorithms together in a crowd-sourced database. Our algorithms are based on the theory of non-parametric bootstrap, which makes our results applicable to a broad class of machine learning models. Our results, on three real-life datasets collected with Amazon's Mechanical Turk, and on 15 well-known UCI data sets, show that our methods on average ask humans to label one to two orders of magnitude fewer items to achieve the same accuracy as a baseline that labels random images, and two to eight times fewer questions than previous active learning schemes.