A Hybrid Editor for Fast Robot Mission Prototyping We present an editor that creates an interactive live preview for simple robot missions. The preview provides instant feedback and the statements in the script can be adapted through direct manipulation of the visualization. While the program is executed to draw the preview, it decorates each value with location information and the expression that produced it. If a value is changed in the visualization, the change can be traced back to the source to produce the desired result. An application prototype demonstrates that our approach produces sensible and generalizing results even in the presence of control flow structures in our DSL.

Synthesizing Robot Manipulation Programs from a Single Observed Human Demonstration Programming by Demonstration (PbD) lets users with little technical background program a wide variety of manipulation tasks for robots, but it should be as intuitive as possible for users while requiring as little time as possible. In this paper, we present a Programming by Demonstration system that synthesizes manipulation programs from a single observed demonstration, allowing users to program new tasks for a robot simply by performing the task once themselves. A humanintheloop interface helps users make corrections to the perceptual state as needed. We introduce Object Interaction Programs as a representation of multiobject, bimanual manipulation tasks and present algorithms for extracting programs from observed demonstrations and transferring programs to a robot to perform the task in a new scene. We demonstrate the expressivity and generalizability of our approach through an evaluation on a benchmark of complex tasks.