Demonstration is an effective end-user development paradigm for teaching robots how to perform new tasks. In this paper, we posit that demonstration is useful not only as a teaching tool, but also as a way to understand and assist end-user developers in thinking about a task at hand. As a first step toward gaining this understanding, we constructed a lightweight web interface to crowdsource step-by-step instructions of common household tasks, leveraging the imaginations and past experiences of potential end-user developers. As evidence of the utility of our interface, we deployed the interface on Amazon Mechanical Turk and collected 207 task traces that span 18 different task categories. We describe our vision for how these task traces can be operationalized as task models within end-user development tools and provide a roadmap for future work.

翻译：演示是一种有效的终端用户开发范式，用于教导机器人如何执行新任务。本文提出，演示不仅可作为一种教学工具，更有助于理解并辅助终端用户开发者思考当前任务。为初步获得这一认知，我们构建了轻量级网页界面，借助潜在终端用户开发者的想象力和过往经验，以众包方式获取常见家庭任务的逐步操作指令。为验证该界面的实用性，我们在亚马逊土耳其机器人平台部署该界面，收集了覆盖18类不同任务的207条任务轨迹。我们阐述了如何将这些任务轨迹作为任务模型应用于终端用户开发工具中的构想，并提出了未来研究路线图。