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1、Crowdsourcingforclosed-loopcontrolSarahOsentoskiChristopherCrickDepartmentofComputerScienceDepartmentofComputerScienceBrownUniversityBrownUniversityProvidence,RI02912Providence,RI02912sosentos@cs.brown.educhriscrick@cs.brown.eduGrayinJayOdestChadwickeJenkinsDe
2、partmentofComputerScienceDepartmentofComputerScienceBrownUniversityBrownUniversityProvidence,RI02912Providence,RI02912tjay@cs.brown.educjenkins@cs.brown.eduAbstractWepresentasystemforlargescaleroboticlearningfromdemonstration.Wede-scribeasetofsoftwaretoolsfore
3、nablinghuman-robotinteractionovertheinter-netandgatheringthelargedatasetsthatsuchcrowdsourcingmakespossible.WeshowresultsinwhichhumansteacharobottonavigateamazeovertheInternet.Robotsoccupyapeculiarplaceinourculture.Wehavebeenbuildingrobotsinourimaginationsford
4、ecades,robotsthatarealternatelywondrousorterrifying,alwaysbrilliantandconsummatelyskilled.Incontrast,realrobotsaretypicallybrittleandcapableofonlyafewsimpleconstrainedtasks.Additionally,onlyexpertprogrammers,intimatelyfamiliarwiththeparticularsofalow-levelrobo
5、ticsystem,canhopetoachieveanykindofcomplexrobotbehavior.Thispaperdescribesoureffortstoapplythelessonsofcrowdsourcingtoroboticstoleveragethepowerandknowledgeofatrulylargenumberofenduserstocreatemoreskilledandrobustrobotcontrollers.Wefocusonlearningfromdemonstra
6、tion(LfD),[2,1]anapproachtorobotprogramminginwhichusersdemonstratedesiredskillstoarobot.Nothingisrequiredoftheuserbeyondtheabilitytocompletethetaskinawaythattherobotcaninterpret.Traditionally,LfDresearchhasbeencon-strainedbythenumberofdemonstrationsthatcanbepe
7、rformed;unlessalargenumberofuserscaninteractwiththerobotonlyalimitedamountofdatacaneasilybegathered.Sinceusersdonotusuallyneedspecializedskillstodemonstraterobotskills,aweb-enabledsystemcouldbeusedtocollectdatafromalargenumberofusers.Anonlinesystemalsoliftsthe
8、burdenoftrainingtherobotfromasingleuserwhomayonlywanttocontributeafewdemonstrations.Collectingdataforclosed-loopcontrolisdifferentfrommanycrowdsourcingapplicationsexaminedintheMach
