A Problem Space for Designing Visualizations.

Visualization researchers and visualization professionals seek appropriate abstractions of visualization requirements that permit considering visualization solutions independently from specific problems. Abstractions can help us design, analyze, organize, and evaluate the things we create. The literature has many task structures (taxonomies, typologies, etc.), design spaces, and related "frameworks" that provide abstractions of the problems a visualization is meant to address. In this Visualization Viewpoints article, we introduce a different one, a problem space that complements existing frameworks by focusing on the needs that a visualization is meant to solve. We believe it provides a valuable conceptual tool for designing and discussing visualizations.

Manually Acquiring Targets From Multiple Viewpoints Using Video Feedback.

OBJECTIVE: The effect of camera viewpoint was studied when performing visually obstructed psychomotor targeting tasks. BACKGROUND: Previous research in laparoscopy and robotic teleoperation found that complex perceptual-motor adaptations associated with misaligned viewpoints corresponded to degraded performance in manipulation. Because optimal camera positioning is often unavailable in restricted environments, alternative viewpoints that might mitigate performance effects are not obvious. METHODS: A virtual keyboard-controlled targeting task was remotely distributed to workers of Amazon Mechanical Turk. The experiment was performed by 192 subjects for a static viewpoint with independent parameters of target direction, Fitts' law index of difficulty, viewpoint azimuthal angle (AA), and viewpoint polar angle (PA). A dynamic viewpoint experiment was also performed by 112 subjects in which the viewpoint AA changed after every trial. RESULTS: AA and target direction had significant effects on performance for the static viewpoint experiment. Movement time and travel distance increased while AA increased until there was a discrete improvement in performance for 180°. Increasing AA from 225° to 315° linearly decreased movement time and distance. There were significant main effects of current AA and magnitude of transition for the dynamic viewpoint experiment. Orthogonal direction and no-change viewpoint transitions least affected performance. CONCLUSIONS: Viewpoint selection should aim to minimize associated rotations within the manipulation plane when performing targeting tasks whether implementing a static or dynamic viewing solution. Because PA rotations had negligible performance effects, PA adjustments may extend the space of viable viewpoints. APPLICATIONS: These results can inform viewpoint selection for visual feedback during psychomotor tasks.

embComp: Visual Interactive Comparison of Vector Embeddings.

This article introduces embComp, a novel approach for comparing two embeddings that capture the similarity between objects, such as word and document embeddings. We survey scenarios where comparing these embedding spaces is useful. From those scenarios, we derive common tasks, introduce visual analysis methods that support these tasks, and combine them into a comprehensive system. One of embComp's central features are overview visualizations that are based on metrics for measuring differences in the local structure around objects. Summarizing these local metrics over the embeddings provides global overviews of similarities and differences. Detail views allow comparison of the local structure around selected objects and relating this local information to the global views. Integrating and connecting all of these components, embComp supports a range of analysis workflows that help understand similarities and differences between embedding spaces. We assess our approach by applying it in several use cases, including understanding corpora differences via word vector embeddings, and understanding algorithmic differences in generating embeddings.

Task-Level Authoring for Remote Robot Teleoperation.

Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are impractical, and existing tools for programming robot remotely have focused on users with significant robotic experience. Extending robot remote programming to end users, i.e., users who are experts in a domain but novices in robotics, requires tools that balance the rich features necessary for complex teleoperation tasks with ease of use. The primary challenge to usability is that novice users are unable to specify complete and robust task plans to allow a robot to perform duties autonomously, particularly in highly variable environments. Our solution is to allow operators to specify shorter sequences of high-level commands, which we call task-level authoring, to create periods of variable robot autonomy. This approach allows inexperienced users to create robot behaviors in uncertain environments by interleaving exploration, specification of behaviors, and execution as separate steps. End users are able to break down the specification of tasks and adapt to the current needs of the interaction and environments, combining the reactivity of direct control to asynchronous operation. In this paper, we describe a prototype system contextualized in light manufacturing and its empirical validation in a user study where 18 participants with some programming experience were able to perform a variety of complex telemanipulation tasks with little training. Our results show that our approach allowed users to create flexible periods of autonomy and solve rich manipulation tasks. Furthermore, participants significantly preferred our system over comparative more direct interfaces, demonstrating the potential of our approach for enabling end users to effectively perform remote robot programming.

Assessing limited visibility feedback for overhead manufacturing assembly tasks.

Worker posture, task time and performance are often affected when one-handed manual dexterous tasks are performed in small overhead spaces under an obscured view. A common method used for supplementing visual feedback in these cases is a hand-held telescopic mirror, but that involves working with both arms extended overhead, and is often accompanied by awkward neck and shoulder postures. A video camera was considered as an alternative to using a mirror for visual feedback and reducing overhead reach. A mirror, a borescope and an omnidirectional camera were evaluated while laboratory participants performed three one-handed simulated manufacturing tasks in a small overhead enclosure. Videos were recorded for quantifying the time that postures were assumed while performing the tasks. The average time that both arms were above mid-shoulder height for the omnidirectional camera was more than 2.5 times less than for the mirror and borescope. The average proportion of neck strain time was 0.01% (or less) for both the omnidirectional camera and the borescope, compared to 83.68% for the mirror. No significant differences were observed in task completion times between the three modalities. Hence, an omnidirectional camera can provide visibility while reducing straining postures for manufacturing operations involving overhead work.

Single-query Path Planning Using Sample-efficient Probability Informed Trees.

In this work, we present a novel sampling-based path planning method, called SPRINT. The method finds solutions for high dimensional path planning problems quickly and robustly. Its efficiency comes from minimizing the number of collision check samples. This reduction in sampling relies on heuristics that predict the likelihood that samples will be useful in the search process. Specifically, heuristics (1) prioritize more promising search regions; (2) cull samples from local minima regions; and (3) steer the search away from previously observed collision states. Empirical evaluations show that our method finds shorter or comparable-length solution paths in significantly less time than commonly used methods. We demonstrate that these performance gains can be largely attributed to our approach to achieve sample efficiency.

Corrective Shared Autonomy for Addressing Task Variability.

Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to introduce the input of a human with superior experience and cognitive abilities as part of a shared autonomy policy. However, current methods for shared autonomy are not designed to address the wide range of necessary corrections (e.g., positions, forces, execution rate, etc.) that the user may need to provide to address task variability. In this paper, we present corrective shared autonomy, where users provide corrections to key robot state variables on top of an otherwise autonomous task model. We provide an instantiation of this shared autonomy paradigm and demonstrate its viability and benefits such as low user effort and physical demand via a system-level user study on three tasks involving variability situated in aircraft manufacturing.

CAVA: A Visual Analytics System for Exploratory Columnar Data Augmentation Using Knowledge Graphs.

Most visual analytics systems assume that all foraging for data happens before the analytics process; once analysis begins, the set of data attributes considered is fixed. Such separation of data construction from analysis precludes iteration that can enable foraging informed by the needs that arise in-situ during the analysis. The separation of the foraging loop from the data analysis tasks can limit the pace and scope of analysis. In this paper, we present CAVA, a system that integrates data curation and data augmentation with the traditional data exploration and analysis tasks, enabling information foraging in-situ during analysis. Identifying attributes to add to the dataset is difficult because it requires human knowledge to determine which available attributes will be helpful for the ensuing analytical tasks. CAVA crawls knowledge graphs to provide users with a a broad set of attributes drawn from external data to choose from. Users can then specify complex operations on knowledge graphs to construct additional attributes. CAVA shows how visual analytics can help users forage for attributes by letting users visually explore the set of available data, and by serving as an interface for query construction. It also provides visualizations of the knowledge graph itself to help users understand complex joins such as multi-hop aggregations. We assess the ability of our system to enable users to perform complex data combinations without programming in a user study over two datasets. We then demonstrate the generalizability of CAVA through two additional usage scenarios. The results of the evaluation confirm that CAVA is effective in helping the user perform data foraging that leads to improved analysis outcomes, and offer evidence in support of integrating data augmentation as a part of the visual analytics pipeline.

CellO: comprehensive and hierarchical cell type classification of human cells with the Cell Ontology.

Cell type annotation is a fundamental task in the analysis of single-cell RNA-sequencing data. In this work, we present CellO, a machine learning-based tool for annotating human RNA-seq data with the Cell Ontology. CellO enables accurate and standardized cell type classification of cell clusters by considering the rich hierarchical structure of known cell types. Furthermore, CellO comes pre-trained on a comprehensive data set of human, healthy, untreated primary samples in the Sequence Read Archive. CellO's comprehensive training set enables it to run out of the box on diverse cell types and achieves competitive or even superior performance when compared to existing state-of-the-art methods. Lastly, CellO's linear models are easily interpreted, thereby enabling exploration of cell-type-specific expression signatures across the ontology. To this end, we also present the CellO Viewer: a web application for exploring CellO's models across the ontology.

Shared control-based bimanual robot manipulation.

Human-centered environments provide affordances for and require the use of two-handed, or bimanual, manipulations. Robots designed to function in, and physically interact with, these environments have not been able to meet these requirements because standard bimanual control approaches have not accommodated the diverse, dynamic, and intricate coordinations between two arms to complete bimanual tasks. In this work, we enabled robots to more effectively perform bimanual tasks by introducing a bimanual shared-control method. The control method moves the robot's arms to mimic the operator's arm movements but provides on-the-fly assistance to help the user complete tasks more easily. Our method used a bimanual action vocabulary, constructed by analyzing how people perform two-hand manipulations, as the core abstraction level for reasoning about how to assist in bimanual shared autonomy. The method inferred which individual action from the bimanual action vocabulary was occurring using a sequence-to-sequence recurrent neural network architecture and turned on a corresponding assistance mode, signals introduced into the shared-control loop designed to make the performance of a particular bimanual action easier or more efficient. We demonstrate the effectiveness of our method through two user studies that show that novice users could control a robot to complete a range of complex manipulation tasks more successfully using our method compared to alternative approaches. We discuss the implications of our findings for real-world robot control scenarios.

Scatterplots: Tasks, Data, and Designs.

Traditional scatterplots fail to scale as the complexity and amount of data increases. In response, there exist many design options that modify or expand the traditional scatterplot design to meet these larger scales. This breadth of design options creates challenges for designers and practitioners who must select appropriate designs for particular analysis goals. In this paper, we help designers in making design choices for scatterplot visualizations. We survey the literature to catalog scatterplot-specific analysis tasks. We look at how data characteristics influence design decisions. We then survey scatterplot-like designs to understand the range of design options. Building upon these three organizations, we connect data characteristics, analysis tasks, and design choices in order to generate challenges, open questions, and example best practices for the effective design of scatterplots.

Considerations for Visualizing Comparison.

Supporting comparison is a common and diverse challenge in visualization. Such support is difficult to design because solutions must address both the specifics of their scenario as well as the general issues of comparison. This paper aids designers by providing a strategy for considering those general issues. It presents four considerations that abstract comparison. These considerations identify issues and categorize solutions in a domain independent manner. The first considers how the common elements of comparison-a target set of items that are related and an action the user wants to perform on that relationship-are present in an analysis problem. The second considers why these elements lead to challenges because of their scale, in number of items, complexity of items, or complexity of relationship. The third considers what strategies address the identified scaling challenges, grouping solutions into three broad categories. The fourth considers which visual designs map to these strategies to provide solutions for a comparison analysis problem. In sequence, these considerations provide a process for developers to consider support for comparison in the design of visualization tools. Case studies show how these considerations can help in the design and evaluation of visualization solutions for comparison problems.

Perceptual Biases in Font Size as a Data Encoding.

Many visualizations, including word clouds, cartographic labels, and word trees, encode data within the sizes of fonts. While font size can be an intuitive dimension for the viewer, using it as an encoding can introduce factors that may bias the perception of the underlying values. Viewers might conflate the size of a word's font with a word's length, the number of letters it contains, or with the larger or smaller heights of particular characters ('o' versus 'p' versus 'b'). We present a collection of empirical studies showing that such factors-which are irrelevant to the encoded values-can indeed influence comparative judgements of font size, though less than conventional wisdom might suggest. We highlight the largest potential biases, and describe a strategy to mitigate them.

Redundant encoding strengthens segmentation and grouping in visual displays of data.

The availability and importance of data are accelerating, and our visual system is a critical tool for understanding it. The research field of data visualization seeks design guidelines-often inspired by perceptual psychology-for more efficient visual data analysis. We evaluated a common guideline: When presenting multiple sets of values to a viewer, those sets should be distinguished not just by a single feature, such as color, but redundantly by multiple features, such as color and shape. Despite the broad use of this practice across maps and graphs, it may carry costs, and there is no direct evidence for a benefit. We show that this practice can indeed yield a large benefit for rapidly segmenting objects within a dense display (Experiments 1 and 2), and strengthening visual grouping of display elements (Experiment 3). We predict situations where this benefit might be present, and discuss implications for models of attentional control. (PsycINFO Database Record

A Framework for Considering Comprehensibility in Modeling.

Comprehensibility in modeling is the ability of stakeholders to understand relevant aspects of the modeling process. In this article, we provide a framework to help guide exploration of the space of comprehensibility challenges. We consider facets organized around key questions: Who is comprehending? Why are they trying to comprehend? Where in the process are they trying to comprehend? How can we help them comprehend? How do we measure their comprehension? With each facet we consider the broad range of options. We discuss why taking a broad view of comprehensibility in modeling is useful in identifying challenges and opportunities for solutions.

Four types of ensemble coding in data visualizations.

Ensemble coding supports rapid extraction of visual statistics about distributed visual information. Researchers typically study this ability with the goal of drawing conclusions about how such coding extracts information from natural scenes. Here we argue that a second domain can serve as another strong inspiration for understanding ensemble coding: graphs, maps, and other visual presentations of data. Data visualizations allow observers to leverage their ability to perform visual ensemble statistics on distributions of spatial or featural visual information to estimate actual statistics on data. We survey the types of visual statistical tasks that occur within data visualizations across everyday examples, such as scatterplots, and more specialized images, such as weather maps or depictions of patterns in text. We divide these tasks into four categories: identification of sets of values, summarization across those values, segmentation of collections, and estimation of structure. We point to unanswered questions for each category and give examples of such cross-pollination in the current literature. Increased collaboration between the data visualization and perceptual psychology research communities can inspire new solutions to challenges in visualization while simultaneously exposing unsolved problems in perception research.

Task-Driven Comparison of Topic Models.

Topic modeling, a method of statistically extracting thematic content from a large collection of texts, is used for a wide variety of tasks within text analysis. Though there are a growing number of tools and techniques for exploring single models, comparisons between models are generally reduced to a small set of numerical metrics. These metrics may or may not reflect a model's performance on the analyst's intended task, and can therefore be insufficient to diagnose what causes differences between models. In this paper, we explore task-centric topic model comparison, considering how we can both provide detail for a more nuanced understanding of differences and address the wealth of tasks for which topic models are used. We derive comparison tasks from single-model uses of topic models, which predominantly fall into the categories of understanding topics, understanding similarity, and understanding change. Finally, we provide several visualization techniques that facilitate these tasks, including buddy plots, which combine color and position encodings to allow analysts to readily view changes in document similarity.

Lightness Constancy in Surface Visualization.

Color is a common channel for displaying data in surface visualization, but is affected by the shadows and shading used to convey surface depth and shape. Understanding encoded data in the context of surface structure is critical for effective analysis in a variety of domains, such as in molecular biology. In the physical world, lightness constancy allows people to accurately perceive shadowed colors; however, its effectiveness in complex synthetic environments such as surface visualizations is not well understood. We report a series of crowdsourced and laboratory studies that confirm the existence of lightness constancy effects for molecular surface visualizations using ambient occlusion. We provide empirical evidence of how common visualization design decisions can impact viewers' abilities to accurately identify encoded surface colors. These findings suggest that lightness constancy aids in understanding color encodings in surface visualization and reveal a correlation between visualization techniques that improve color interpretation in shadow and those that enhance perceptions of surface depth. These results collectively suggest that understanding constancy in practice can inform effective visualization design.

Look together: analyzing gaze coordination with epistemic network analysis.

When conversing and collaborating in everyday situations, people naturally and interactively align their behaviors with each other across various communication channels, including speech, gesture, posture, and gaze. Having access to a partner's referential gaze behavior has been shown to be particularly important in achieving collaborative outcomes, but the process in which people's gaze behaviors unfold over the course of an interaction and become tightly coordinated is not well understood. In this paper, we present work to develop a deeper and more nuanced understanding of coordinated referential gaze in collaborating dyads. We recruited 13 dyads to participate in a collaborative sandwich-making task and used dual mobile eye tracking to synchronously record each participant's gaze behavior. We used a relatively new analysis technique-epistemic network analysis-to jointly model the gaze behaviors of both conversational participants. In this analysis, network nodes represent gaze targets for each participant, and edge strengths convey the likelihood of simultaneous gaze to the connected target nodes during a given time-slice. We divided collaborative task sequences into discrete phases to examine how the networks of shared gaze evolved over longer time windows. We conducted three separate analyses of the data to reveal (1) properties and patterns of how gaze coordination unfolds throughout an interaction sequence, (2) optimal time lags of gaze alignment within a dyad at different phases of the interaction, and (3) differences in gaze coordination patterns for interaction sequences that lead to breakdowns and repairs. In addition to contributing to the growing body of knowledge on the coordination of gaze behaviors in joint activities, this work has implications for the design of future technologies that engage in situated interactions with human users.

LayerCake: a tool for the visual comparison of viral deep sequencing data.

MOTIVATION: The advent of next-generation sequencing (NGS) has created unprecedented opportunities to examine viral populations within individual hosts, among infected individuals and over time. Comparing sequence variability across viral genomes allows for the construction of complex population structures, the analysis of which can yield powerful biological insights. However, the simultaneous display of sequence variation, coverage depth and quality scores across thousands of bases presents a unique visualization challenge that has not been fully met by current NGS analysis tools. RESULTS: Here, we present LayerCake, a self-contained visualization tool that allows for the rapid analysis of variation in viral NGS data. LayerCake enables the user to simultaneously visualize variations in multiple viral populations across entire genomes within a highly customizable framework, drawing attention to pertinent and interesting patterns of variation. We have successfully deployed LayerCake to assist with a variety of different genomics datasets. AVAILABILITY AND IMPLEMENTATION: Program downloads and detailed instructions are available at http://graphics.cs.wisc.edu/WP/layercake under a modified MIT license. LayerCake is a cross-platform tool written in the Processing framework for Java. CONTACT: mcorrell@cs.wisc.edu.