In the gvfs-bin package (the filelist for Precise is here) there is currently no restore counterpart to gvfs-trash, so the only way around it at the moment is to install trash-cli from the repositories (more information here) and use the restore-trash function from there after sending a file to trash with gvfs-trash. They are both compatible as they adhere to the freedesktop trash specification, as you probably know.
To send a file to trash, enter:
gvfs-trash newt
Then run
restore-trash
which gives the prompt
0 2012-09-13 01:09:05 /home/mike/newt
What file to restore [0..0]: 0
This seems to be the way to restore things sent to trash from the command-line at the moment, but it will be worth updating the answer in the future if a gvfs restore tool appears to compliment gvfs-trash.