Sketching Robot Programs On the Fly

TL;DR

This paper introduces Tabula, a multimodal system enabling end-users to quickly sketch and specify robot programs on the fly using speech and sketches, balancing simplicity and task complexity.

Contribution

The paper presents a novel system that combines spoken language and sketching for rapid, on-the-fly robot programming, bridging ease of use with complex task specification.

Findings

Enables quick sketching and speech-based robot programming

Supports partial, incomplete program specification for refinement

Demonstrates practical application scenarios for end-user development

Abstract

Service robots for personal use in the home and the workplace require end-user development solutions for swiftly scripting robot tasks as the need arises. Many existing solutions preserve ease, efficiency, and convenience through simple programming interfaces or by restricting task complexity. Others facilitate meticulous task design but often do so at the expense of simplicity and efficiency. There is a need for robot programming solutions that reconcile the complexity of robotics with the on-the-fly goals of end-user development. In response to this need, we present a novel, multimodal, and on-the-fly development system, Tabula. Inspired by a formative design study with a prototype, Tabula leverages a combination of spoken language for specifying the core of a robot task and sketching for contextualizing the core. The result is that developers can script partial, sloppy versions of robot programs to be completed and refined by a program synthesizer. Lastly, we demonstrate our anticipated use cases of Tabula via a set of application scenarios.