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Description
Many researchers aspire to create robotics systems that assist humans in common office tasks, especially by taking over delivery and messaging tasks. For meaningful interactions to take place, a mobile robot must be able to identify the humans it interacts with and communicate successfully with them. It must also be able to successfully navigate the office environment. While mobile robots are well suited for navigating and interacting with elements inside a deterministic office environment, attempting to interact with human beings in an office environment remains a challenge due to the limits on the amount of cost-efficient compute power onboard the robot. In this work, I propose the use of remote cloud services to offload intensive interaction tasks. I detail the interactions required in an office environment and discuss the challenges faced when implementing a human-robot interaction platform in a stochastic office environment. I also experiment with cloud services for facial recognition, speech recognition, and environment navigation and discuss my results. As part of my thesis, I have implemented a human-robot interaction system utilizing cloud APIs into a mobile robot, enabling it to navigate the office environment, identify humans within the environment, and communicate with these humans.
ContributorsDSouza, Daniel Anand (Author) / Kambhampati, Subbarao (Thesis director) / Zhang, Yu (Committee member) / Computer Science and Engineering Program (Contributor) / School of Computing, Informatics, and Decision Systems Engineering (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
Browsing Twitter users, or browsers, often find it increasingly cumbersome to attach meaning to tweets that are displayed on their timeline as they follow more and more users or pages. The tweets being browsed are created by Twitter users called originators, and are of some significance to the browser who has chosen to subscribe to the tweets from the originator by following the originator. Although, hashtags are used to tag tweets in an effort to attach context to the tweets, many tweets do not have a hashtag. Such tweets are called orphan tweets and they adversely affect the experience of a browser.
A hashtag is a type of label or meta-data tag used in social networks and micro-blogging services which makes it easier for users to find messages with a specific theme or content. The context of a tweet can be defined as a set of one or more hashtags. Users often do not use hashtags to tag their tweets. This leads to the problem of missing context for tweets. To address the problem of missing hashtags, a statistical method was proposed which predicts most likely hashtags based on the social circle of an originator.
In this thesis, we propose to improve on the existing context recovery system by selectively limiting the candidate set of hashtags to be derived from the intimate circle of the originator rather than from every user in the social network of the originator. This helps in reducing the computation, increasing speed of prediction, scaling the system to originators with large social networks while still preserving most of the accuracy of the predictions. We also propose to not only derive the candidate hashtags from the social network of the originator but also derive the candidate hashtags based on the content of the tweet. We further propose to learn personalized statistical models according to the adoption patterns of different originators. This helps in not only identifying the personalized candidate set of hashtags based on the social circle and content of the tweets but also in customizing the hashtag adoption pattern to the originator of the tweet.
A hashtag is a type of label or meta-data tag used in social networks and micro-blogging services which makes it easier for users to find messages with a specific theme or content. The context of a tweet can be defined as a set of one or more hashtags. Users often do not use hashtags to tag their tweets. This leads to the problem of missing context for tweets. To address the problem of missing hashtags, a statistical method was proposed which predicts most likely hashtags based on the social circle of an originator.
In this thesis, we propose to improve on the existing context recovery system by selectively limiting the candidate set of hashtags to be derived from the intimate circle of the originator rather than from every user in the social network of the originator. This helps in reducing the computation, increasing speed of prediction, scaling the system to originators with large social networks while still preserving most of the accuracy of the predictions. We also propose to not only derive the candidate hashtags from the social network of the originator but also derive the candidate hashtags based on the content of the tweet. We further propose to learn personalized statistical models according to the adoption patterns of different originators. This helps in not only identifying the personalized candidate set of hashtags based on the social circle and content of the tweets but also in customizing the hashtag adoption pattern to the originator of the tweet.
ContributorsMallapura Umamaheshwar, Tejas (Author) / Kambhampati, Subbarao (Thesis advisor) / Liu, Huan (Committee member) / Davulcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2015
Description
With the rise of social media, user-generated content has become available at an unprecedented scale. On Twitter, 1 billion tweets are posted every 5 days and on Facebook, 20 million links are shared every 20 minutes. These massive collections of user-generated content have introduced the human behavior's big-data.
This big data has brought about countless opportunities for analyzing human behavior at scale. However, is this data enough? Unfortunately, the data available at the individual-level is limited for most users. This limited individual-level data is often referred to as thin data. Hence, researchers face a big-data paradox, where this big-data is a large collection of mostly limited individual-level information. Researchers are often constrained to derive meaningful insights regarding online user behavior with this limited information. Simply put, they have to make thin data thick.
In this dissertation, how human behavior's thin data can be made thick is investigated. The chief objective of this dissertation is to demonstrate how traces of human behavior can be efficiently gleaned from the, often limited, individual-level information; hence, introducing an all-inclusive user behavior analysis methodology that considers social media users with different levels of information availability. To that end, the absolute minimum information in terms of both link or content data that is available for any social media user is determined. Utilizing only minimum information in different applications on social media such as prediction or recommendation tasks allows for solutions that are (1) generalizable to all social media users and that are (2) easy to implement. However, are applications that employ only minimum information as effective or comparable to applications that use more information?
In this dissertation, it is shown that common research challenges such as detecting malicious users or friend recommendation (i.e., link prediction) can be effectively performed using only minimum information. More importantly, it is demonstrated that unique user identification can be achieved using minimum information. Theoretical boundaries of unique user identification are obtained by introducing social signatures. Social signatures allow for user identification in any large-scale network on social media. The results on single-site user identification are generalized to multiple sites and it is shown how the same user can be uniquely identified across multiple sites using only minimum link or content information.
The findings in this dissertation allows finding the same user across multiple sites, which in turn has multiple implications. In particular, by identifying the same users across sites, (1) patterns that users exhibit across sites are identified, (2) how user behavior varies across sites is determined, and (3) activities that are observed only across sites are identified and studied.
This big data has brought about countless opportunities for analyzing human behavior at scale. However, is this data enough? Unfortunately, the data available at the individual-level is limited for most users. This limited individual-level data is often referred to as thin data. Hence, researchers face a big-data paradox, where this big-data is a large collection of mostly limited individual-level information. Researchers are often constrained to derive meaningful insights regarding online user behavior with this limited information. Simply put, they have to make thin data thick.
In this dissertation, how human behavior's thin data can be made thick is investigated. The chief objective of this dissertation is to demonstrate how traces of human behavior can be efficiently gleaned from the, often limited, individual-level information; hence, introducing an all-inclusive user behavior analysis methodology that considers social media users with different levels of information availability. To that end, the absolute minimum information in terms of both link or content data that is available for any social media user is determined. Utilizing only minimum information in different applications on social media such as prediction or recommendation tasks allows for solutions that are (1) generalizable to all social media users and that are (2) easy to implement. However, are applications that employ only minimum information as effective or comparable to applications that use more information?
In this dissertation, it is shown that common research challenges such as detecting malicious users or friend recommendation (i.e., link prediction) can be effectively performed using only minimum information. More importantly, it is demonstrated that unique user identification can be achieved using minimum information. Theoretical boundaries of unique user identification are obtained by introducing social signatures. Social signatures allow for user identification in any large-scale network on social media. The results on single-site user identification are generalized to multiple sites and it is shown how the same user can be uniquely identified across multiple sites using only minimum link or content information.
The findings in this dissertation allows finding the same user across multiple sites, which in turn has multiple implications. In particular, by identifying the same users across sites, (1) patterns that users exhibit across sites are identified, (2) how user behavior varies across sites is determined, and (3) activities that are observed only across sites are identified and studied.
ContributorsZafarani, Reza, 1983- (Author) / Liu, Huan (Thesis advisor) / Kambhampati, Subbarao (Committee member) / Xue, Guoliang (Committee member) / Leskovec, Jure (Committee member) / Arizona State University (Publisher)
Created2015
Description
Exabytes of data are created online every day. This deluge of data is no more apparent than it is on social media. Naturally, finding ways to leverage this unprecedented source of human information is an active area of research. Social media platforms have become laboratories for conducting experiments about people at scales thought unimaginable only a few years ago.
Researchers and practitioners use social media to extract actionable patterns such as where aid should be distributed in a crisis. However, the validity of these patterns relies on having a representative dataset. As this dissertation shows, the data collected from social media is seldom representative of the activity of the site itself, and less so of human activity. This means that the results of many studies are limited by the quality of data they collect.
The finding that social media data is biased inspires the main challenge addressed by this thesis. I introduce three sets of methodologies to correct for bias. First, I design methods to deal with data collection bias. I offer a methodology which can find bias within a social media dataset. This methodology works by comparing the collected data with other sources to find bias in a stream. The dissertation also outlines a data collection strategy which minimizes the amount of bias that will appear in a given dataset. It introduces a crawling strategy which mitigates the amount of bias in the resulting dataset. Second, I introduce a methodology to identify bots and shills within a social media dataset. This directly addresses the concern that the users of a social media site are not representative. Applying these methodologies allows the population under study on a social media site to better match that of the real world. Finally, the dissertation discusses perceptual biases, explains how they affect analysis, and introduces computational approaches to mitigate them.
The results of the dissertation allow for the discovery and removal of different levels of bias within a social media dataset. This has important implications for social media mining, namely that the behavioral patterns and insights extracted from social media will be more representative of the populations under study.
Researchers and practitioners use social media to extract actionable patterns such as where aid should be distributed in a crisis. However, the validity of these patterns relies on having a representative dataset. As this dissertation shows, the data collected from social media is seldom representative of the activity of the site itself, and less so of human activity. This means that the results of many studies are limited by the quality of data they collect.
The finding that social media data is biased inspires the main challenge addressed by this thesis. I introduce three sets of methodologies to correct for bias. First, I design methods to deal with data collection bias. I offer a methodology which can find bias within a social media dataset. This methodology works by comparing the collected data with other sources to find bias in a stream. The dissertation also outlines a data collection strategy which minimizes the amount of bias that will appear in a given dataset. It introduces a crawling strategy which mitigates the amount of bias in the resulting dataset. Second, I introduce a methodology to identify bots and shills within a social media dataset. This directly addresses the concern that the users of a social media site are not representative. Applying these methodologies allows the population under study on a social media site to better match that of the real world. Finally, the dissertation discusses perceptual biases, explains how they affect analysis, and introduces computational approaches to mitigate them.
The results of the dissertation allow for the discovery and removal of different levels of bias within a social media dataset. This has important implications for social media mining, namely that the behavioral patterns and insights extracted from social media will be more representative of the populations under study.
ContributorsMorstatter, Fred (Author) / Liu, Huan (Thesis advisor) / Kambhampati, Subbarao (Committee member) / Maciejewski, Ross (Committee member) / Carley, Kathleen M. (Committee member) / Arizona State University (Publisher)
Created2017
Description
Goal specification is an important aspect of designing autonomous agents. A goal does not only refer to the set of states for the agent to reach. A goal also defines restrictions on the paths the agent should follow. Temporal logics are widely used in goal specification. However, they lack the ability to represent goals in a non-deterministic domain, goals that change non-monotonically, and goals with preferences. This dissertation defines new goal specification languages by extending temporal logics to address these issues. First considered is the goal specification in non-deterministic domains, in which an agent following a policy leads to a set of paths. A logic is proposed to distinguish paths of the agent from all paths in the domain. In addition, to address the need of comparing policies for finding the best ones, a language capable of quantifying over policies is proposed. As policy structures of agents play an important role in goal specification, languages are also defined by considering different policy structures. Besides, after an agent is given an initial goal, the agent may change its expectations or the domain may change, thus goals that are previously specified may need to be further updated, revised, partially retracted, or even completely changed. Non-monotonic goal specification languages that can make these changes in an elaboration tolerant manner are needed. Two languages that rely on labeling sub-formulas and connecting multiple rules are developed to address non-monotonicity in goal specification. Also, agents may have preferential relations among sub-goals, and the preferential relations may change as agents achieve other sub-goals. By nesting a comparison operator with other temporal operators, a language with dynamic preferences is proposed. Various goals that cannot be expressed in other languages are expressed in the proposed languages. Finally, plans are given for some goals specified in the proposed languages.
ContributorsZhao, Jicheng (Author) / Baral, Chitta (Thesis advisor) / Kambhampati, Subbarao (Committee member) / Lee, Joohyung (Committee member) / Lifschitz, Vladimir (Committee member) / Liu, Huan (Committee member) / Arizona State University (Publisher)
Created2010
Description
Building computational models of human problem solving has been a longstanding goal in Artificial Intelligence research. The theories of cognitive architectures addressed this issue by embedding models of problem solving within them. This thesis presents an extended account of human problem solving and describes its implementation within one such theory of cognitive architecture--ICARUS. The document begins by reviewing the standard theory of problem solving, along with how previous versions of ICARUS have incorporated and expanded on it. Next it discusses some limitations of the existing mechanism and proposes four extensions that eliminate these limitations, elaborate the framework along interesting dimensions, and bring it into closer alignment with human problem-solving abilities. After this, it presents evaluations on four domains that establish the benefits of these extensions. The results demonstrate the system's ability to solve problems in various domains and its generality. In closing, it outlines related work and notes promising directions for additional research.
ContributorsTrivedi, Nishant (Author) / Langley, Patrick W (Thesis advisor) / VanLehn, Kurt (Committee member) / Kambhampati, Subbarao (Committee member) / Arizona State University (Publisher)
Created2011
Description
The future will be replete with Artificial Intelligence (AI) based agents closely collaborating with humans. Although it is challenging to construct such systems for real-world conditions, the Intelligent Tutoring System (ITS) community has proposed several techniques to work closely with students. However, there is a need to extend these systems outside the controlled environment of the classroom. More recently, Human-Aware Planning (HAP) community has developed generalized AI techniques for collaborating with humans and providing personalized support or guidance to the collaborators. In this thesis, the take learning from the ITS community is extend to construct such human-aware systems for real-world domains and evaluate them with real stakeholders. First, the applicability of HAP to ITS is demonstrated, by modeling the behavior in a classroom and a state-of-the-art tutoring system called Dragoon. Then these techniques are extended to provide decision support to a human teammate and evaluate the effectiveness of the framework through ablation studies to support students in constructing their plan of study (\ipos). The results show that these techniques are helpful and can support users in their tasks. In the third section of the thesis, an ITS scenario of asking questions (or problems) in active environments is modeled by constructing questions to elicit a human teammate's model of understanding. The framework is evaluated through a user study, where the results show that the queries can be used for eliciting the human teammate's mental model.
ContributorsGrover, Sachin (Author) / Kambhampati, Subbarao (Thesis advisor) / Smith, David (Committee member) / Srivastava, Sidhharth (Committee member) / VanLehn, Kurt (Committee member) / Arizona State University (Publisher)
Created2022
Description
Decision support systems aid the human-in-the-loop by enhancing the quality of decisions and the ease of making them in complex decision-making scenarios. In the recent years, such systems have been empowered with automated techniques for sequential decision making or planning tasks to effectively assist and cooperate with the human-in-the-loop. This has received significant recognition in the planning as well as human computer interaction communities as such systems connect the key elements of automated planning in decision support to principles of naturalistic decision making in the HCI community. A decision support system, in addition to providing planning support, must be able to provide intuitive explanations based on specific user queries for proposed decisions to its end users. Using this as motivation, I consider scenarios where the user questions the system's suggestion by providing alternatives (referred to as foils). In response, I empower existing decision support technologies to engage in an interactive explanatory dialogue with the user and provide contrastive explanations based on user-specified foils to reach a consensus on proposed decisions. Furthermore, the foils specified by the user can be indicative of the latent preferences of the user. I use this interpretation to equip existing decision support technologies with three different interaction strategies that utilize the foil to provide revised plan suggestions. Finally, as part of my Master's thesis, I present RADAR-X, an extension of RADAR, a proactive decision support system, that showcases the above mentioned capabilities. Further, I present a user-study evaluation that emphasizes the need for contrastive explanations and a computational evaluation of the mentioned interaction strategies.
ContributorsValmeekam, Karthik (Author) / Kambhampati, Subbarao (Thesis advisor) / Chiou, Erin (Committee member) / Sengupta, Sailik (Committee member) / Arizona State University (Publisher)
Created2021
Description
Generative Adversarial Networks are designed, in theory, to replicate the distribution of the data they are trained on. With real-world limitations, such as finite network capacity and training set size, they inevitably suffer a yet unavoidable technical failure: mode collapse. GAN-generated data is not nearly as diverse as the real-world data the network is trained on; this work shows that this effect is especially drastic when the training data is highly non-uniform. Specifically, GANs learn to exacerbate the social biases which exist in the training set along sensitive axes such as gender and race. In an age where many datasets are curated from web and social media data (which are almost never balanced), this has dangerous implications for downstream tasks using GAN-generated synthetic data, such as data augmentation for classification. This thesis presents an empirical demonstration of this phenomenon and illustrates its real-world ramifications. It starts by showing that when asked to sample images from an illustrative dataset of engineering faculty headshots from 47 U.S. universities, unfortunately skewed toward white males, a DCGAN’s generator “imagines” faces with light skin colors and masculine features. In addition, this work verifies that the generated distribution diverges more from the real-world distribution when the training data is non-uniform than when it is uniform. This work also shows that a conditional variant of GAN is not immune to exacerbating sensitive social biases. Finally, this work contributes a preliminary case study on Snapchat’s explosively popular GAN-enabled “My Twin” selfie lens, which consistently lightens the skin tone for women of color in an attempt to make faces more feminine. The results and discussion of the study are meant to caution machine learning practitioners who may unsuspectingly increase the biases in their applications.
ContributorsJain, Niharika (Author) / Kambhampati, Subbarao (Thesis advisor) / Liu, Huan (Committee member) / Manikonda, Lydia (Committee member) / Arizona State University (Publisher)
Created2020
Description
With improvements in automation and system capabilities, human responsibilities in those advanced systems can get more complicated; greater situational awareness and performance may be asked of human agents in roles such as fail-safe operators. This phenomenon of automation improvements requiring more from humans in the loop, is connected to the well-known “paradox of automation”. Unfortunately, humans have cognitive limitations that can constrain a person's performance on a task. If one considers human cognitive limitations when designing solutions or policies for human agents, then better results are possible. The focus of this dissertation is on improving human involvement in planning and execution for Sequential Decision Making (SDM) problems. Existing work already considers incorporating humans into planning and execution in SDM, but with limited consideration for cognitive limitations. The work herein focuses on how to improve human involvement through problems in motion planning, planning interfaces, Markov Decision Processes (MDP), and human-team scheduling. This done by first discussing the human modeling assumptions currently used in the literature and their shortcomings. Then this dissertation tackles a set of problems by considering problem-specific human cognitive limitations --such as those associated with memory and inference-- as well as use lessons from fields such as cognitive ergonomics.
ContributorsGopalakrishnan, Sriram (Author) / Kambhampati, Subbarao (Thesis advisor) / Srivastava, Siddharth (Committee member) / Scheutz, Matthias (Committee member) / Zhang, Yu (Tony) (Committee member) / Arizona State University (Publisher)
Created2022