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We present and evaluate an approach for human-in-the-loop specification ofshape reconstruction with annotations for basic robot-object interactions. Ourmethod is based on the idea of model annotation: the addition of simple cues toan underlying object model to specify shape and delineate a simple task. Thegoal is to explore reducing the complexity of CAD-like interfaces so thatnovice users can quickly recover an object's shape and describe a manipulationtask that is then carried out by a robot. The object modeling and interactionannotation capabilities are tested with a user study and compared againstresults obtained using existing approaches. The approach has been analyzedusing a variety of shape comparison, grasping, and manipulation metrics, andtested with the PR2 robot platform, where it was shown to be successful.

Annotation Scaffolds for Object Modeling and Manipulation