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.
Annotations that help solve particular instances of problems can be gathered into a knowledge-base that can, in turn, be studied to gain insights into the solving of more general situations. One way to gather a large amount of usable annotations is to take advantage of the growing infrastructure for tasks, like Amazon's Mechanical Turk @cite_25 .
@cite_25
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Human computation can address complex computational problems by tapping into large resource pools for relatively little cost. Two prominent human-computation techniques - games with a purpose (GWAP) and microtask crowdsourcing - can help resolve semantic-technology-related tasks, including knowledge representation, ontology alignment, and semantic annotation. To evaluate which approach is better with respect to costs and benefits, the authors employ categorization challenges in Wikipedia to ultimately create a large, general-purpose ontology. They first use the OntoPronto GWAP, then replicate its problem-solving setting in Amazon Mechanical Turk, using a similar task-design structure, evaluation mechanisms, and input data.