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We describe a multimodal framework for interacting with an autonomous robotic forklift. A key element enabling effective interaction is a wireless, handheld tablet with which a human supervisor can command the forklift using speech and sketch. Most current sketch interfaces treat the canvas as a blank slate. In contrast, our interface uses live and synthesized camera images from the forklift as a canvas, and augments them with object and obstacle information from the world. This connectiondoi:10.1145/1734454.1734550 dblp:conf/hri/CorreaWFGTD10 fatcat:7dcbcyfzwvczphk4clxikhqkwq