  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.
