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 one sense, annotation can be obtained without human supervision by automatically processing the data and extracting useful intelligence from the collected information. Metadata can be analyzed as a form of annotation for the payload it describes. Often, the input data itself comes from data sources rich with explicit or implicit human annotation. In @cite_63 , automatic classification methods are trained using existing human-interaction datasets that have been previously grouped by activity. While effective in its own right, this type of unsupervised learning needs to be validated before being put to used in any context where safety, preference, or informed judgment is required. One problem with unintentional annotation is that it is unstructured and noisy by nature, making the extraction of usable intelligence a considerably more difficult proposition @cite_62 . When possible, it is preferable to use annotations that are directly aimed at enhancing the understanding of a situation or task that one intends to refine.
@cite_62 @cite_63
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Many real-world applications require automated data annotation, such as identifying tissue origins based on gene expressions and classifying images into semantic categories. Annotation classes are often numerous and subject to changes over time, and annotating examples has become the major bottleneck for supervised learning methods. In science and other high-value domains, large repositories of data samples are often available, together with two sources of organic supervision: a lexicon for the annotation classes, and text descriptions that accompany some data samples. Distant supervision has emerged as a promising paradigm for exploiting such indirect supervision by automatically annotating examples where the text description contains a class mention in the lexicon. However, due to linguistic variations and ambiguities, such training data is inherently noisy, which limits the accuracy of this approach. In this paper, we introduce an auxiliary natural language processing system for the text modality, and incorporate co-training to reduce noise and augment signal in distant supervision. Without using any manually labeled data, our EZLearn system learned to accurately annotate data samples in functional genomics and scientific figure comprehension, substantially outperforming state-of-the-art supervised methods trained on tens of thousands of annotated examples. A common obstacle preventing the rapid deployment of supervised machine learning algorithms is the lack of labeled training data. This is particularly expensive to obtain for structured prediction tasks, where each training instance may have multiple, interacting labels, all of which must be correctly annotated for the instance to be of use to the learner. Traditional active learning addresses this problem by optimizing the order in which the examples are labeled to increase learning efficiency. However, this approach does not consider the difficulty of labeling each example, which can vary widely in structured prediction tasks. For example, the labeling predicted by a partially trained system may be easier to correct for some instances than for others. We propose a new active learning paradigm which reduces not only how many instances the annotator must label, but also how difficult each instance is to annotate. The system also leverages information from partially correct predictions to efficiently solicit annotations from the user. We validate this active learning framework in an interactive information extraction system, reducing the total number of annotation actions by 22 . Recognizing human activities from wearable sensor data is an important problem, particularly for health and eldercare applications. However, collecting sufficient labeled training data is challenging, especially since interpreting IMU traces is difficult for human annotators. Recently, crowdsourcing through services such as Amazon's Mechanical Turk has emerged as a promising alternative for annotating such data, with active learning (Cohn, Ghahramani, and Jordan 1996) serving as a natural method for affordably selecting an appropriate subset of instances to label. Unfortunately, since most active learning strategies are greedy methods that select the most uncertain sample, they are very sensitive to annotation errors (which corrupt a significant fraction of crowdsourced labels). This paper proposes methods for robust active learning under these conditions. Specifically, we make three contributions: 1) we obtain better initial labels by asking labelers to solve a related task; 2) we propose a new principled method for selecting instances in active learning that is more robust to annotation noise; 3) we estimate confidence scores for labels acquired from MTurk and ask workers to relabel samples that receive low scores under this metric. The proposed method is shown to significantly outperform existing techniques both under controlled noise conditions and in real active learning scenarios. The resulting method trains classifiers that are close in accuracy to those trained using ground-truth data. Supervised approaches to NLP tasks rely on high-quality data annotations, which typically result from expensive manual labelling procedures. For some tasks, however, the subjectivity of human judgements might reduce the usefulness of the annotation for real-world applications. In Machine Translation (MT) Quality Estimation (QE), for instance, using humanannotated data to train a binary classifier that discriminates between good (useful for a post-editor) and bad translations is not trivial. Focusing on this binary task, we show that subjective human judgements can be effectively replaced with an automatic annotation procedure. To this aim, we compare binary classifiers trained on different data: the human-annotated dataset from the 7 th Workshop on Statistical Machine Translation (WMT-12), and an automatically labelled version of the same corpus. Our results show that human labels are less suitable for the task.