The field of robot Learning from Demonstration (LfD) makes use of several input modalities for demonstrations (teleoperation, kinesthetic teaching, marker- and vision-based motion tracking). In this paper we present two experiments aimed at identifying and overcoming challenges associated with using teleoperation as an input modality for LfD. Our first experiment compares kinesthetic teaching and teleoperation and highlights some inherent problems associated with teleoperation; specifically uncomfortable user interactions and inaccurate robot demonstrations. Our second experiment is focused on overcoming these problems and designing the teleoperation interaction to be more suitable for LfD. In previous work we have proposed a novel demonstration strategy using the concept of keyframes, where demonstrations are in the form of a discrete set of robot configurations. Keyframes can be naturally combined with continuous trajectory demonstrations to generate a hybrid strategy. We perform user studies to evaluate each of these demonstration strategies individually and show that keyframes are intuitive to the users and are particularly useful in providing noise-free demonstrations. We find that users prefer the hybrid strategy best for demonstrating tasks to a robot by teleoperation.

When used in challenging applications like surgery or underwater maintenance, the use of tele-operated robots involves manipulations that are complex to perform on the master controllers due to restricted access and limited perception. In this paper, we investigate an assistance approach for tele-robotic manipulation, in which the robot automates several degrees of freedom (DOF) of the tools, such as their orientation. This automation requires the understanding of the intent of the operator, so as to not impede the natural manipulation of the remaining DOF. Our system is therefore based on the observation that in the aforementioned applications, the manipulation tasks have often a structure that can be learned from the daily usage of the robot. We propose an approach that uses the typical motion performed by the operator during a given task, learned from demonstration, to automate the rotation of the manipulator in new instances of this task. The operator keeps control of the robot by manipulating the tool translation and can recover full control if needed. The learned motion model is based on Gaussian Mixture Regressions and combined with a 3D reconstruction of the environment to address variations in the task. We demonstrate our assistance approach using a da Vinci robot on a task consisting of moving a ring along a wire possessing a complex 3D shape.

List of organizers of the AAAI Fall Symposium on Robots Learning Interactively from Human Teachers.

In this paper, we focus on computing the prices of secu- rities represented by logical formulas in combinatorial prediction markets when the price function is represented by a Bayesian network. This problem turns out to be a natural extension of the weighted model counting (WMC) problem (Sang, Bearne, and Kautz 2005), which we call generalized weighted model counting (GWMC) problem. In GWMC, we are given a logical formula F and a polynomial-time computable weight function. We are asked to compute the total weight of the valuations that satisfy F. Based on importance sampling, we propose a Monte-Carlo meta-algorithm that has a good theoretical guarantee for formulas in disjunctive normal form (DNF). The meta-algorithm queries an oracle algorithm that computes marginal probabilities in Bayesian networks, and has the following theoretical guarantee. When the weight function can be approximately represented by a Bayesian network for which the oracle algorithm runs in polynomial time, our meta-algorithm becomes a fully polynomial-time randomized approximation scheme (FPRAS).

We consider the problem of evaluating the performance of human contributors for tasks involving answering a series of questions, each of which has a single correct answer. The answers may not be known a priori. We assert that the measure of a contributor’s judgments is the amount by which having these judgments decreases the entropy of our discovering the answer. This quantity is the pointwise mutual information between the judgments and the answer. The expected value of this metric is the mutual information between the contributor and the answer prior, which can be computed using only the prior and the conditional probabil- ities of the contributor’s judgments given a correct answer, without knowing the answers themselves. We also propose using multivariable information measures, such as conditional mutual information, to measure the inter- actions between contributors’ judgments. These metrics have a variety of applications. They can be used as a basis for contributor performance evaluation and incentives. They can be used to measure the efficiency of the judgment collection process. If the collection process allows assignment of contributors to questions, they can also be used to optimize this scheduling.

There is strong theoretical evidence that aggregation of human judgments should not simply average multiple forecasts together (the unweighted linear opinion pool, or ULinOP), but weight them in such a way as to insure representation of a maximally diverse set of models among the experts from whom they are elicited. Explicitly eliciting these models places a major burden on the experts. We report on a variety of approaches to estimating these models, or at least the diversity among them, with minimal explicit input from the experts.

We are interested in aggregating forecasts of multinomial problems elicited from multiple experts. A common approach is to assign a weight to each expert, then form a weighted sum over their forecasts. Theoretical studies suggest that an important factor in such weighting is the diversity among experts. However, diversity is intrinsically a pairwise measure over experts, and does not lend itself naturally to a single weight that can be applied to an expert’s forecast in a weighted average. We suggest a way to take advantage of such pairwise measures in aggregating forecasts.

Many methods have been proposed for making use of multiple experts to predict uncertain events such as election outcomes, ranging from simple averaging of individual predictions to complex collaborative structures such as prediction markets or structured group decision making processes. We used a panel of more than 2,000 forecasters to systematically compare the performance of four different collaborative processes on a battery of political prediction problems. We found that teams and prediction markets systematically outperformed averages of individual forecasters, that training forecasters helps, and that the exact form of how predictions are combined has a large effect on overall prediction accuracy.

We present the results of an initial experiment that indicates that people are less overconfident and better calibrated when they assign confidence levels to someone else’s interval judgements (evaluator confidences) compared to assigning confidence levels to their own interval judgements (judge confidences). We studied what impact this had on a number of judgement aggregation methods, including linear aggregation and maximum confidence slating (MCS). Using evaluator confidences as inputs to the aggregation methods improved calibration, and it improved hit rate in the case of MCS.

We propose to improve the accuracy of prediction market forecasts by using Bayesian networks to constrain probabilities among related questions. Prediction markets are already known to increase forecast accuracy compared to single best estimates. Our own flat prediction market substantially beat a baseline linear opinion pool during the first year. One way to improve performance is by expressing relationships among the questions. Elsewhere we describe work on combinatorial markets. Here we show how to use Bayesian networks within a flat market. The general approach is to decompose a target question (hypothesis) into a set of related variables (causal factors and evidence), when the relationship among the variables is known with some confidence. Then the marginal probabilities for the variables in the Bayes net are updated using the market estimates, with the Bayes net enforcing coherence. This paper describes the overall concept, shows the results for a particular model of the potential Greek exit from the European Union, and describes the team’s future research plan.