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
2040557557
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.