This article is a summary of the experiences of the Florida Institute for Human & Machine Cognition (IHMC) team during the DARPA Robotics Challenge (DRC) Trials. The primary goal of the DRC is to develop robots capable of assisting humans in responding to natural and manmade disasters. The robots are expected to use standard tools and equipment to accomplish the mission. The DRC Trials consisted of eight different challenges that tested robot mobility, manipulation, and control under degraded communications and time constraints. Team IHMC competed using the Atlas humanoid robot made by Boston Dynamics. We competed against 16 international teams and placed second in the competition. This article discusses the challenges we faced in transitioning from simulation to hardware. It also discusses the lessons learned both during the competition and in the months of preparation leading up to it. The lessons address the value of reliable hardware and solid software practices. They also cover effective approaches to bipedal walking and designing for human‐robot teamwork. Lastly, the lessons present a philosophical discussion about choices related to designing robotic systems.
Biologists and scientists have been tackling the problem of marine life monitoring and fish stock estimation for many years now. Efforts are now directed to move towards non-intrusive methods, by utilizing specially designed underwater robots to collect images of the marine population. Training machine learning algorithms on the images collected, we can now estimate the population. This in turn helps to impose regulations to control overfishing. To train these models, however, we need annotated images. Annotation of large sets of images collected over a decade is quite challenging. Hence, we resort to Amazon Mechanical Turk (MTurk), a crowdsourcing platform, for the image annotation task. Although it is fast to get work done in MTurk, the work obtained is often of poor quality. This work aims to understand the human factors in designing Human Intelligence Tasks (HITs), from the perspective of the Self-Determination Theory. Applying elements from the theory, we design an HIT to increase the competence and motivation of the workers. Within our experimental framework, we find that the new interface significantly improves the accuracy of worker performance.
CCS CONCEPTS• Human-centered computing → Interaction design → Interaction design process and methods; User interface design; • Human-centered computing → Human computer interaction (HCI); HCI theory, concepts and models
This paper presents a labeling methodology for marine life data using a weakly supervised learning framework. The methodology iteratively trains a deep learning model using non-expert labels obtained from crowdsourcing. This approach enables us to converge on a labeled image dataset through multiple training and production loops that leverage crowdsourcing interfaces. We present our algorithm and its results on two separate sets of image data collected using the Seabed autonomous underwater vehicle. The first dataset consists of 10,505 images that were point annotated by NOAA biologists. This dataset allows us to validate the accuracy of our labeling process. We also apply our algorithm and methodology to a second dataset consisting of 3,968 completely unlabeled images. These image categories are challenging to label, such as sponges. Qualitatively, our results indicate that training with a tiny subset and iterating on those results allows us to converge to a large, highly annotated dataset with a small number of iterations. To demonstrate the effectiveness of our methodology quantitatively, we tabulate the mean average precision (mAP) of the model as the number of iterations increases.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.