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.
The work by @cite_67 uses a simple protocol that involves input and output surveys, a tutorial, and a challenge section. While they were focused on evaluating different methods of directing robot motion and attention, we used the same protocol structure for our own annotation tests.
@cite_67
2088147743
Graph-structured data arise naturally in many different application domains. By representing data as graphs, we can capture entities (i.e., nodes) as well as their relationships (i.e., edges) with each other. Many useful insights can be derived from graph-structured data as demonstrated by an ever-growing body of work focused on graph mining. However, in the real-world, graphs can be both large - with many complex patterns - and noisy which can pose a problem for effective graph mining. An effective way to deal with this issue is to incorporate "attention" into graph mining solutions. An attention mechanism allows a method to focus on task-relevant parts of the graph, helping it to make better decisions. In this work, we conduct a comprehensive and focused survey of the literature on the emerging field of graph attention models. We introduce three intuitive taxonomies to group existing work. These are based on problem setting (type of input and output), the type of attention mechanism used, and the task (e.g., graph classification, link prediction, etc.). We motivate our taxonomies through detailed examples and use each to survey competing approaches from a unique standpoint. Finally, we highlight several challenges in the area and discuss promising directions for future work.