In the Human-Centered Robotics lab we aim to develop robotics that are useful and usable for future users of task-oriented robots. To that end we take a human-centered approach by working on robotics problems that would enable functionalities that are most needed to assist people in everyday tasks, while also making state-of-the-art robotics functionalities accessible to users with no technical knowledge. Our projects focus on end-user robot programming, robotic tool use, and assistive robotics.