  Affordance Templates (ATs) are a method for parameterizing objects for
autonomous robot manipulations. In this approach, instances of an object are
registered by positioning a model in a 3D environment, which requires a large
amount of user input. We instead propose a registration method which combines
autonomy and user corrections. For selected objects, the system determines both
the model and corresponding pose autonomously. The user makes corrections only
if the model or pose is incorrect. This method increases the level of autonomy
compared to existing approaches which can reduce user input and time on task.
In this paper, we present an overview of existing methods, a description of our
method, preliminary results, and planned future work.
