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
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Crowdsourcing complex creative tasks remains difficult, in part because these tasks require skilled workers. Most crowdsourcing platforms do not help workers acquire the skills necessary to accomplish complex creative tasks. In this paper, we describe a platform that combines learning and crowdsourcing to benefit both the workers and the requesters. Workers gain new skills through interactive step-by-step tutorials and test their knowledge by improving real-world images submitted by requesters. In a series of three deployments spanning two years, we varied the design of our platform to enhance the learning experience and improve the quality of the crowd work. We tested our approach in the context of LevelUp for Photoshop, which teaches people how to do basic photograph improvement tasks using Adobe Photoshop. We found that by using our system workers gained new skills and produced high-quality edits for requested images, even if they had little prior experience editing images. Online labor markets, such as Amazon's Mechanical Turk, have been used to crowdsource simple, short tasks like image labeling and transcription. However, expert knowledge is often lacking in such markets, making it impossible to complete certain classes of tasks. In this work we introduce an alternative mechanism for crowdsourcing tasks that require specialized knowledge or skill: communitysourcing --- the use of physical kiosks to elicit work from specific populations. We investigate the potential of communitysourcing by designing, implementing and evaluating Umati: the communitysourcing vending machine. Umati allows users to earn credits by performing tasks using a touchscreen attached to the machine. Physical rewards (in this case, snacks) are dispensed through traditional vending mechanics. We evaluated whether communitysourcing can accomplish expert work by using Umati to grade Computer Science exams. We placed Umati in a university Computer Science building, targeting students with grading tasks for snacks. Over one week, 328 unique users (302 of whom were students) completed 7771 tasks (7240 by students). 80 of users had never participated in a crowdsourcing market before. We found that Umati was able to grade exams with 2 higher accuracy (at the same price) or at 33 lower cost (at equivalent accuracy) than traditional single-expert grading. Mechanical Turk workers had no success grading the same exams. These results indicate that communitysourcing can successfully elicit high-quality expert work from specific communities. Worker reliability is a longstanding issue in crowdsourcing, and the automatic discovery of high quality workers is an important practical problem. Most previous work on this problem mainly focuses on estimating the quality of each individual worker jointly with the true answer of each task. However, in practice, for some tasks, worker quality could be associated with some explicit characteristics of the worker, such as education level, major and age. So the following question arises: how do we automatically discover related worker attributes for a given task, and further utilize the findings to improve data quality? In this paper, we propose a general crowd targeting framework that can automatically discover, for a given task, if any group of workers based on their attributes have higher quality on average; and target such groups, if they exist, for future work on the same task. Our crowd targeting framework is complementary to traditional worker quality estimation approaches. Furthermore, an advantage of our framework is that it is more budget efficient because we are able to target potentially good workers before they actually do the task. Experiments on real datasets show that the accuracy of final prediction can be improved significantly for the same budget (or even less budget in some cases). Our framework can be applied to many real word tasks and can be easily integrated in current crowdsourcing platforms. We study the causal effects of financial incentives on the quality of crowdwork. We focus on performance-based payments (PBPs), bonus payments awarded to workers for producing high quality work. We design and run randomized behavioral experiments on the popular crowdsourcing platform Amazon Mechanical Turk with the goal of understanding when, where, and why PBPs help, identifying properties of the payment, payment structure, and the task itself that make them most effective. We provide examples of tasks for which PBPs do improve quality. For such tasks, the effectiveness of PBPs is not too sensitive to the threshold for quality required to receive the bonus, while the magnitude of the bonus must be large enough to make the reward salient. We also present examples of tasks for which PBPs do not improve quality. Our results suggest that for PBPs to improve quality, the task must be effort-responsive: the task must allow workers to produce higher quality work by exerting more effort. We also give a simple method to determine if a task is effort-responsive a priori. Furthermore, our experiments suggest that all payments on Mechanical Turk are, to some degree, implicitly performance-based in that workers believe their work may be rejected if their performance is sufficiently poor. Finally, we propose a new model of worker behavior that extends the standard principal-agent model from economics to include a worker's subjective beliefs about his likelihood of being paid, and show that the predictions of this model are in line with our experimental findings. This model may be useful as a foundation for theoretical studies of incentives in crowdsourcing markets.