{"paper":{"title":"A Sketch-Based System for Human-Guided Constrained Object Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.HC","authors_text":"Joseph J. LaViola Jr., Karthik Desingh, Odest Chadwicke Jenkins, Sina Masnadi, Xiaofan Zhu","submitted_at":"2019-11-17T21:11:56Z","abstract_excerpt":"In this paper, we present an easy to use sketch-based interface to extract geometries and generate affordance files from 3D point clouds for robot-object interaction tasks. Using our system, even novice users can perform robot task planning by employing such sketch tools. Our focus in this paper is employing human-in-the-loop approach to assist in the generation of more accurate affordance templates and guidance of robot through the task execution process. Since we do not employ any unsupervised learning to generate affordance templates, our system performs much faster and is more versatile fo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1911.07340","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/1911.07340/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}