As service robots become more and more capable of performing useful tasks for us, there is a growing need to teach robots how we expect them to carry out these tasks. However, different users typically have their own preferences, for example with respect to arranging objects on different shelves. As many of these preferences depend on a variety of factors including personal taste, cultural background, or common sense, it is challenging for an expert to pre-program a robot in order to accommodate all potential users. At the same time, it is impractical for robots to constantly query users about how they should perform individual tasks. In this work, we present an approach to learn patterns in user preferences for the task of tidying up objects in containers, e.g., shelves or boxes. Our method builds upon the paradigm of collaborative filtering for making personalized recommendations and relies on data from different users that we gather using crowdsourcing. To deal with novel objects for which we have no data, we propose a method that compliments standard collaborative filtering by leveraging information mined from the Web. When solving a tidy-up task, we first predict pairwise object preferences of the user. Then, we subdivide the objects in containers by modeling a spectral clustering problem. Our solution is easy to update, does not require complex modeling, and improves with the amount of user data. We evaluate our approach using crowdsourcing data from over 1,200 users and demonstrate its effectiveness for two tidy-up scenarios. Additionally, we show that a real robot can reliably predict user preferences using our approach.
@cite_37: Recommender systems provide users with personalized suggestions for products or services. These systems often rely on collaborating filtering (CF), where past transactions are analyzed in order to establish connections between users and products. The most common approach to CF is based on neighborhood models, which originate from similarities between products or users. In this work we introduce a new neighborhood model with an improved prediction accuracy. Unlike previous approaches that are based on heuristic similarities, we model neighborhood relations by minimizing a global cost function. Further accuracy improvements are achieved by extending the model to exploit both explicit and implicit feedback by the users. Past models were limited by the need to compute all pairwise similarities between items or users, which grow quadratically with input size. In particular, this limitation vastly complicates adopting user similarity models, due to the typical large number of users. Our new model solves these limitations by factoring the neighborhood model, thus making both item-item and user-user implementations scale linearly with the size of the data. The methods are tested on the Netflix data, with encouraging results.
@cite_26: Recommender systems provide users with personalized suggestions for products or services. These systems often rely on Collaborating Filtering (CF), where past transactions are analyzed in order to establish connections between users and products. The two more successful approaches to CF are latent factor models, which directly profile both users and products, and neighborhood models, which analyze similarities between products or users. In this work we introduce some innovations to both approaches. The factor and neighborhood models can now be smoothly merged, thereby building a more accurate combined model. Further accuracy improvements are achieved by extending the models to exploit both explicit and implicit feedback by the users. The methods are tested on the Netflix data. Results are better than those previously published on that dataset. In addition, we suggest a new evaluation metric, which highlights the differences among methods, based on their performance at a top-K recommendation task.
We aim to discover latent patterns in the ratings matrix @math that enable us to make predictions about the preferences of users. For this, we take from factorization-based collaborative filtering @cite_26 @cite_37 . First, we decompose @math into a bias matrix @math and a residual ratings matrix @math : Each entry @math in @math is formulated as follows: where @math is a global bias term, @math is the bias of the pair @math , and @math is the bias of user @math . We compute @math as the mean rating over all users and object-pairs in @math , i.e., The bias @math describes how high or low a certain user @math tends to rate object-pairs compared to the average user. Similarly, @math captures the tendency of a pair @math to receive high or low ratings. For example, the pair @math , @math tends to receive generally high ratings compared to the pair @math , @math .