@article{Iba2018, author = "Soshi Iba and Christiaan J.J. Paredis and Pradeep Khosla", title = "{Interactive Multi-Modal Robot Programming}", year = "2018", month = "6", url = "https://kilthub.cmu.edu/articles/journal_contribution/Interactive_Multi-Modal_Robot_Programming/6622631", doi = "10.1184/R1/6622631.v1" }