Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Sketch-Based System for Human-Guided Constrained Object Manipulation   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 for template
generation. Our system is based on the extraction of geometries for generalized
cylindrical and cuboid shapes, after extracting the geometries, affordances are
generated for objects by applying simple sketches. We evaluated our technique
by asking users to define affordances by employing sketches on the 3D scenes of
a door handle and a drawer handle and used the resulting extracted affordance
template files to perform the tasks of turning a door handle and opening a
drawer by the robot.

26
The categories of this paper are: bayes-an
14
The categories of this paper are: math-ph
27
The categories of this paper are: comp-gas
6
The categories of this paper are: astro-ph
12
The categories of this paper are: nucl-th
7
The categories of this paper are: hep-th
35
The categories of this paper are: mtrl-th
8
The categories of this paper are: hep-ex
13
The categories of this paper are: quant-ph
23
The categories of this paper are: solv-int
37
The categories of this paper are: supr-con
32
The categories of this paper are: atom-ph
20
The categories of this paper are: acc-phys
30
The categories of this paper are: q-alg
22
The categories of this paper are: chao-dyn
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The categories of this paper are: alg-geom