相关论文: Crowdsourcing Task Traces for Service Robotics

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

Crowdsourcing annotations has created a paradigm shift in the availability of labeled data for machine learning. Availability of large datasets has accelerated progress in common knowledge applications involving visual and language data.…

Nonverbal visual symbols and displays play an important role in communication when humans and robots work collaboratively. However, few studies have investigated how different types of non-verbal cues affect objective task performance,…

In recent years, there has been a booming shift in the development of versatile, autonomous robots by introducing means to intuitively teach robots task-oriented behaviour by demonstration. In this paper, a method based on programming by…

We propose a technique for multi-task learning from demonstration that trains the controller of a low-cost robotic arm to accomplish several complex picking and placing tasks, as well as non-prehensile manipulation. The controller is a…

Although reinforcement learning has seen tremendous success recently, this kind of trial-and-error learning can be impractical or inefficient in complex environments. The use of demonstrations, on the other hand, enables agents to benefit…

This work-in-progress paper describes a vision, i.e., that of fast and reliable software user experience studies conducted with the help from the crowd. Commonly, user studies are controlled in-lab activities that require the instruction,…

Performance analysis of microservices can be a challenging task, as a typical request to these systems involves multiple Remote Procedure Calls (RPC) spanning across independent services and machines. Practitioners primarily rely on…

Human-robot collaboration enables highly adaptive co-working. The variety of resulting workflows makes it difficult to measure metrics as, e.g. makespans or idle times for multiple systems and tasks in a comparable manner. This issue can be…

Models of crowdsourcing and human computation often assume that individuals independently carry out small, modular tasks. However, while these models have successfully shown how crowds can accomplish significant objectives, they can…

We present a symbolic learning framework inspired by cognitive-like memory functionalities (i.e., storing, retrieving, consolidating and forgetting) to generate task representations to support high-level task planning and knowledge…

Generalization remains one of the most important desiderata for robust robot learning systems. While recently proposed approaches show promise in generalization to novel objects, semantic concepts, or visual distribution shifts,…

Crowdsourcing markets like Amazon's Mechanical Turk (MTurk) make it possible to task people with small jobs, such as labeling images or looking up phone numbers, via a programmatic interface. MTurk tasks for processing datasets with humans…

Trust is essential in shaping human interactions with one another and with robots. This paper discusses how human trust in robot capabilities transfers across multiple tasks. We first present a human-subject study of two distinct task…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

We consider unsupervised crowdsourcing performance based on the model wherein the responses of end-users are essentially rated according to how their responses correlate with the majority of other responses to the same subtasks/questions.…

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…

The benefit of multi-task learning over single-task learning relies on the ability to use relations across tasks to improve performance on any single task. While sharing representations is an important mechanism to share information across…

Machine learning has a recognised need for large amounts of annotated data. Due to the high cost of expert annotations, crowdsourcing, where non-experts are asked to label or outline images, has been proposed as an alternative. Although…

Trial-and-error is a fundamental strategy for humans to solve complex problems and a necessary capability for Artificial Intelligence (AI) systems operating in real-world environments. Although several trial-and-error AI techniques have…