HCR Lab

2025

conference Lessons Learned from Designing and Evaluating a Robot-assisted Feeding System for Out-of-lab Use
Amal Nanavati, Ethan K Gordon, Taylor A Kessler Faulkner, Yuxin (Ray) Song, Johnathan Ko, Tyler Schrenk, Vy Nguyen, Bernie Hao Zhu, Haya Bolotski, Atharva Kashyap, Sriram Kutty, Raida Karim, Liander Rainbolt, Rosario Scalise, Hanjun Song, Ramon Qu, Maya Cakmak, Siddhartha S Srinivasa
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2025
Best Systems Paper Award Finalist [pdf] [bib] [video] [url]

@inproceedings{nanavati2025lessons,
  title = {Lessons Learned from Designing and Evaluating a Robot-assisted Feeding System for Out-of-lab Use},
  author = {Nanavati, Amal and Gordon, Ethan K and Kessler Faulkner, Taylor A and Song, Yuxin (Ray) and Ko, Johnathan and Schrenk, Tyler and Nguyen, Vy and Zhu, Bernie Hao and Bolotski, Haya and Kashyap, Atharva and Kutty, Sriram and Karim, Raida and Rainbolt, Liander and Scalise, Rosario and Song, Hanjun and Qu, Ramon and Cakmak, Maya and Srinivasa, Siddhartha S},
  year = {2025},
  note = {Best Systems Paper Award Finalist},
  month = mar,
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  type = {conference},
  video = {https://youtu.be/0GxLTw5UDt0?si=LKSq3WPBUSrR3m8F},
  url = {https://robotfeeding.io/publications/hri25a/}
}

2024

conference Using 3D Mice to Control Robot Manipulators
Varad Dhat, Nick Walker, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2024
Best Short Contribution [pdf] [bib] [code]

@inproceedings{dhat2024using,
  title = {Using 3D Mice to Control Robot Manipulators},
  author = {Dhat, Varad and Walker, Nick and Cakmak, Maya},
  year = {2024},
  month = mar,
  isbn = {9798400703225},
  publisher = {Association for Computing Machinery},
  address = {New York, NY, USA},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  note = {Best Short Contribution},
  pages = {896–900},
  numpages = {5},
  keywords = {3d mouse, filtering, teleoperation, web},
  location = {Boulder, CO, USA},
  type = {conference},
  codeurl = {https://github.com/hcrlab/3dmouse-hid},
  doi = {10.1145/3610977.3637486}
}

conference Fast Explicit-Input Assistance for Teleoperation in Clutter
Nick Walker, Xuning Yang, Animesh Garg, Maya Cakmak, Dieter Fox, Claudia Pérez-D’Arpino
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
[pdf] [bib] [code]

@article{walker2024explicit,
  author = {Walker, Nick and Yang, Xuning and Garg, Animesh and Cakmak, Maya and Fox, Dieter and P\'{e}rez-D'Arpino, Claudia},
  title = {Fast Explicit-Input Assistance for Teleoperation in Clutter},
  location = {Abu Dhabi, UAE},
  year = {2024},
  month = oct,
  booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {9270-9276},
  type = {conference},
  codeurl = {https://github.com/NVlabs/fast-explicit-teleop},
  doi = {10.1109/IROS58592.2024.10802138}
}

journal Physically assistive robots: A systematic review of mobile and manipulator robots that physically assist people with disabilities
Amal Nanavati, Vinitha Ranganeni, Maya Cakmak
Annual Review of Control, Robotics, and Autonomous Systems, 2024
[pdf] [bib]

@article{nanavati2024physically,
  title = {Physically assistive robots: A systematic review of mobile and manipulator robots that physically assist people with disabilities},
  author = {Nanavati, Amal and Ranganeni, Vinitha and Cakmak, Maya},
  booktitle = {Annual Review of Control, Robotics, and Autonomous Systems},
  volume = {7},
  year = {2024},
  pages = {123--147},
  type = {journal},
  publisher = {Annual Reviews}
}

workshop Multiple Ways of Working with Users to Develop Physically Assistive Robots
A. Nanavati^*, M. Pascher^*, V. Ranganeni, E.K. Gordon, T.A.K. Faulkner, S.S. Srinivasa, M. Cakmak, P. Alves-Oliveira, J. Gerken
ACM/IEEE International Conference on Human-Robot Interaction (HRI) Workshop on Assistive Applications, Accessibility, and Disability Ethics (A3DE), 2024
[pdf] [bib] [poster]

@inproceedings{nanavati2024multiple,
  title = {Multiple Ways of Working with Users to Develop Physically Assistive Robots},
  author = {Nanavati$^{*}$, A. and Pascher$^{*}$, M. and Ranganeni, V. and Gordon, E.K. and Faulkner, T.A.K. and Srinivasa, S.S. and Cakmak, M. and Alves-Oliveira, P. and Gerken, J.},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI) Workshop on Assistive Applications, Accessibility, and Disability Ethics (A3DE)},
  year = {2024},
  type = {workshop},
  poster = {https://amalnanavati.com/files/publications/nanavatipascher2024multiple-poster.pdf}
}

workshop An Adaptable, Safe, and Portable Robot-Assisted Feeding System
E.K. Gordon^*, R.K. Jenamani^*, A. Nanavati^*, Z. Liu, H. Bolotski, R. Karim, D. Stabile, A. Kashyap, B. H. Zhu, X. Dai, T. Schrenk, J. Ko, T.A.K. Faulkner, T. Bhattacharjee, S.S. Srinivasa
Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024
Best Demo Award Winner [pdf] [bib] [video] [url]

@inproceedings{gordonjenamaninanavati2024demo,
  title = {An Adaptable, Safe, and Portable Robot-Assisted Feeding System},
  author = {Gordon$^{*}$, E.K. and Jenamani$^{*}$, R.K. and Nanavati$^{*}$, A. and Liu, Z. and Bolotski, H. and Karim, R. and Stabile, D. and Kashyap, A. and Zhu, B. H. and Dai, X. and Schrenk, T. and Ko, J. and Faulkner, T.A.K. and Bhattacharjee, T. and Srinivasa, S.S.},
  booktitle = {Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction},
  pages = {74--76},
  year = {2024},
  note = {Best Demo Award Winner},
  type = {workshop},
  url = {https://robotfeeding.io/},
  video = {https://www.youtube.com/watch?v=5GNKUKMbOv0}
}

2023

conference Towards general single-utensil food acquisition with human-informed actions
Ethan Kroll Gordon, Amal Nanavati, Ramya Challa, Bernie Hao Zhu, Taylor Annette Kessler Faulkner, Siddhartha Srinivasa
Conference on Robot Learning (CoRL), 2023
[pdf] [bib] [video] [url] [poster]

@inproceedings{gordon2023towards,
  title = {Towards general single-utensil food acquisition with human-informed actions},
  author = {Gordon, Ethan Kroll and Nanavati, Amal and Challa, Ramya and Zhu, Bernie Hao and Faulkner, Taylor Annette Kessler and Srinivasa, Siddhartha},
  pages = {2414--2428},
  year = {2023},
  month = nov,
  organization = {PMLR},
  publisher = {{PMLR}},
  series = {Proceedings of Machine Learning Research},
  booktitle = {Conference on Robot Learning (CoRL)},
  location = {Atlanta, USA},
  type = {conference},
  url = {https://openreview.net/forum?id=UZpWSDA3tZJ},
  poster = {https://amalnanavati.com/files/publications/gordonnanavati2023towards-poster.pdf},
  video = {https://openreview.net/attachment?id=UZpWSDA3tZJ&name=poster_spotlight_video}
}

conference Exploring Levels of Control for a Navigation Assistant for Blind Travelers
Vinitha Ranganeni, Mike Sinclair, Eyal Ofek, Amos Miller, Jonathan Campbell, Andrey Kolobov, Edward Cutrell
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2023
[bib]

@inproceedings{ranganeni2023exploring,
  title = {Exploring Levels of Control for a Navigation Assistant for Blind Travelers},
  author = {Ranganeni, Vinitha and Sinclair, Mike and Ofek, Eyal and Miller, Amos and Campbell, Jonathan and Kolobov, Andrey and Cutrell, Edward},
  year = {2023},
  month = mar,
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  type = {conference}
}

conference Design Principles for Robot-Assisted Feeding in Social Contexts
Amal Nanavati, Patricia Alves-Oliveira, Tyler Schrenk, Ethan K. Gordon, Maya Cakmak, Siddhartha S. Srinivasa
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2023
Best Design Paper Award [pdf] [bib] [video] [url]

@inproceedings{nanavati2023design,
  title = {Design Principles for Robot-Assisted Feeding in Social Contexts},
  author = {Nanavati, Amal and Alves-Oliveira, Patricia and Schrenk, Tyler and Gordon, Ethan K. and Cakmak, Maya and Srinivasa, Siddhartha S.},
  year = {2023},
  month = mar,
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  note = {Best Design Paper Award},
  type = {conference},
  url = {https://dl.acm.org/doi/10.1145/3568162.3576988},
  video = {https://youtu.be/m2ySmeHgT-k}
}

video Unintended Failures of Robot-Assisted Feeding in Social Contexts
Amal Nanavati, Patricia Alves-Oliveira, Tyler Schrenk, Ethan K. Gordon, Maya Cakmak, Siddhartha S. Srinivasa
Companion of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2023
[pdf] [bib] [video] [url]

@inproceedings{nanavati2023unintended,
  title = {Unintended Failures of Robot-Assisted Feeding in Social Contexts},
  author = {Nanavati, Amal and Alves-Oliveira, Patricia and Schrenk, Tyler and Gordon, Ethan K. and Cakmak, Maya and Srinivasa, Siddhartha S.},
  year = {2023},
  month = mar,
  booktitle = {Companion of the ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  type = {video},
  url = {https://dl.acm.org/doi/abs/10.1145/3568294.3580209},
  video = {https://youtu.be/02LYORrcN7M}
}

conference Sketching Robot Programs On the Fly
David Porfirio, Laura Stegner, Maya Cakmak, Allison Sauppé, Aws Albarghouthi, Bilge Mutlu
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2023
[bib]

@inproceedings{porfirio2023sketching,
  title = {Sketching Robot Programs On the Fly},
  author = {Porfirio, David and Stegner, Laura and Cakmak, Maya and Saupp{\'e}, Allison and Albarghouthi, Aws and Mutlu, Bilge},
  year = {2023},
  month = mar,
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  type = {conference}
}

late-breaking Tell Me About It: Adolescent Self-Disclosure with an Online Robot for Mental Health
Tony W. Li, Michael Murray, Zander Brumbaugh, Raida Karim, Hanna Lee, Maya Cakmak, Elin A. Bjorling
ACM/IEEE International Conference on Human-Robot Interaction (HRI) – Late breaking reports, 2023
[bib]

@inproceedings{li2023tell,
  title = {Tell Me About It: Adolescent Self-Disclosure with an Online Robot for Mental Health},
  author = {Li, Tony W. and Murray, Michael and Brumbaugh, Zander and Karim, Raida and Lee, Hanna and Cakmak, Maya and Bjorling, Elin A.},
  year = {2023},
  month = mar,
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI) -- Late breaking reports},
  type = {late-breaking}
}

late-breaking Crowdsourcing Task Traces for Service Robotics
David Porfirio, Allison Sauppé, Maya Cakmak, Aws Albarghouthi, Bilge Mutlu
ACM/IEEE International Conference on Human-Robot Interaction (HRI) – Late breaking reports, 2023
[bib]

@inproceedings{porfirio2023crowdsourcing,
  title = {Crowdsourcing Task Traces for Service Robotics},
  author = {Porfirio, David and Saupp{\'e}, Allison and Cakmak, Maya and Albarghouthi, Aws and Mutlu, Bilge},
  year = {2023},
  month = mar,
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI) -- Late breaking reports},
  type = {late-breaking}
}

2022

conference Not All Who Wander Are Lost: A Localization-Free System for In-the-Wild Mobile Robot Deployments
Amal Nanavati, Nick Walker, Lee Taber, Christoforos Mavrogiannis, Leila Takayama, Maya Cakmak, Siddhartha S. Srinivasa
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2022
[pdf] [bib] [url] [code]

@inproceedings{nanavati2022wandering,
  title = {Not All Who Wander Are Lost: A Localization-Free System for In-the-Wild Mobile Robot Deployments},
  author = {Nanavati, Amal and Walker, Nick and Taber, Lee and Mavrogiannis, Christoforos and Takayama, Leila and Cakmak, Maya and Srinivasa, Siddhartha S.},
  year = {2022},
  month = mar,
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  location = {Virtual},
  type = {conference},
  url = {https://ieeexplore.ieee.org/abstract/document/9889620},
  codeurl = {https://github.com/hcrlab/kuri_wandering_robot}
}

conference Mimic: In-Situ Recording and Re-Use of Demonstrations to Support Robot Teleoperation
Karthik Mahadevan, Yan Chen, Maya Cakmak, Anthony Tang, Tovi Grossman
ACM Symposium on User Interface Software and Technology (UIST), 2022
[bib] [url]

@inproceedings{mahadevan2022mimic,
  title = {Mimic: In-Situ Recording and Re-Use of Demonstrations to Support Robot Teleoperation},
  author = {Mahadevan, Karthik and Chen, Yan and Cakmak, Maya and Tang, Anthony and Grossman, Tovi},
  year = {2022},
  booktitle = {ACM Symposium on User Interface Software and Technology (UIST)},
  pages = {1--13},
  url = {https://dl.acm.org/doi/abs/10.1145/3526113.3545639},
  type = {conference}
}

conference FLEX-SDK: An Open-Source Software Development Kit for Creating Social Robots
Patricia Alves-Oliveira, Kai Mihata, Raida Karim, Elin A Bjorling, Maya Cakmak
ACM Symposium on User Interface Software and Technology (UIST), 2022
[bib] [url] [code]

@inproceedings{alves2022flex,
  title = {FLEX-SDK: An Open-Source Software Development Kit for Creating Social Robots},
  author = {Alves-Oliveira, Patricia and Mihata, Kai and Karim, Raida and Bjorling, Elin A and Cakmak, Maya},
  year = {2022},
  booktitle = {ACM Symposium on User Interface Software and Technology (UIST)},
  pages = {1--10},
  url = {https://dl.acm.org/doi/abs/10.1145/3526113.3545707},
  codeurl = {https://github.com/mayacakmak/emarsoftware},
  type = {conference}
}

conference Share with Me: A Study on a Social Robot Collecting Mental Health Data
Raida Karim, Edgar Lopez, Katelynn Oleson, Tony Li, Elin A Björling, Maya Cakmak
International Conference on Social Robotics (ICSR), 2022
[bib] [arxiv] [url]

@inproceedings{karim2022share,
  title = {Share with Me: A Study on a Social Robot Collecting Mental Health Data},
  author = {Karim, Raida and Lopez, Edgar and Oleson, Katelynn and Li, Tony and Bj{\"o}rling, Elin A and Cakmak, Maya},
  year = {2022},
  booktitle = {International Conference on Social Robotics (ICSR)},
  pages = {218--227},
  type = {conference},
  url = {https://link.springer.com/chapter/10.1007/978-3-031-24667-8_20},
  arxiv = {https://arxiv.org/pdf/2208.04389.pdf},
  organization = {Springer}
}

workshop Interaction Templates: A Data-Driven Approach for Authoring Robot Programs
David Porfirio, Maya Cakmak, Allison Sauppé, Aws Albarghouthi, Bilge Mutlu
PLATEAU: 12th Annual Workshop at the Intersection of PL and HCI, 2022
[bib]

@inproceedings{porfirio2022interaction,
  title = {Interaction Templates: A Data-Driven Approach for Authoring Robot Programs},
  author = {Porfirio, David and Cakmak, Maya and Saupp{\'e}, Allison and Albarghouthi, Aws and Mutlu, Bilge},
  year = {2022},
  booktitle = {PLATEAU: 12th Annual Workshop at the Intersection of PL and HCI},
  type = {workshop}
}

conference Flexi: A robust and flexible social robot embodiment kit
Patricia Alves-Oliveira, Matthew Bavier, Samrudha Malandkar, Ryan Eldridge, Julie Sayigh, Elin A Björling, Maya Cakmak
Designing Interactive Systems Conference (DIS), 2022
[bib] [url]

@inproceedings{alves2022flexi,
  title = {Flexi: A robust and flexible social robot embodiment kit},
  author = {Alves-Oliveira, Patricia and Bavier, Matthew and Malandkar, Samrudha and Eldridge, Ryan and Sayigh, Julie and Bj{\"o}rling, Elin A and Cakmak, Maya},
  year = {2022},
  booktitle = {Designing Interactive Systems Conference (DIS)},
  pages = {1177--1191},
  url = {https://dl.acm.org/doi/abs/10.1145/3532106.3533541},
  type = {conference}
}

conference Robots for Connection: A Co-Design Study with Adolescents
Patricia Alves-Oliveira, Elin A Björling, Patriya Wiesmann, Heba Dwikat, Simran Bhatia, Kai Mihata, Maya Cakmak
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2022
[bib] [url]

@inproceedings{alves2022robots,
  title = {Robots for Connection: A Co-Design Study with Adolescents},
  author = {Alves-Oliveira, Patricia and Bj{\"o}rling, Elin A and Wiesmann, Patriya and Dwikat, Heba and Bhatia, Simran and Mihata, Kai and Cakmak, Maya},
  year = {2022},
  booktitle = {IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
  pages = {578--583},
  type = {conference},
  url = {https://ieeexplore.ieee.org/abstract/document/9900534},
  organization = {IEEE}
}

journal Following natural language instructions for household tasks with landmark guided search and reinforced pose adjustment
Michael Murray, Maya Cakmak
IEEE Robotics and Automation Letters (R-AL), 2022
[bib] [url]

@article{murray2022following,
  title = {Following natural language instructions for household tasks with landmark guided search and reinforced pose adjustment},
  author = {Murray, Michael and Cakmak, Maya},
  year = {2022},
  journal = {IEEE Robotics and Automation Letters (R-AL)},
  publisher = {IEEE},
  volume = {7},
  number = {3},
  pages = {6870--6877},
  url = {https://ieeexplore.ieee.org/abstract/document/9785410},
  type = {journal}
}

journal Learning perceptual concepts by bootstrapping from human queries
Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox
IEEE Robotics and Automation Letters (R-AL), 2022
[bib] [arxiv] [url]

@article{bobu2022learning,
  title = {Learning perceptual concepts by bootstrapping from human queries},
  author = {Bobu, Andreea and Paxton, Chris and Yang, Wei and Sundaralingam, Balakumar and Chao, Yu-Wei and Cakmak, Maya and Fox, Dieter},
  year = {2022},
  journal = {IEEE Robotics and Automation Letters (R-AL)},
  publisher = {IEEE},
  volume = {7},
  number = {4},
  pages = {11260--11267},
  url = {https://ieeexplore.ieee.org/abstract/document/9848830},
  arxiv = {https://arxiv.org/abs/2111.05251},
  type = {journal}
}

journal Connecting the Dots of Social Robot Design From Interviews With Robot Creators
Patricia Alves-Oliveira, Alaina Orr, Elin A Björling, Maya Cakmak
Frontiers in Robotics and AI, 2022
[bib] [url]

@article{alves2022connecting,
  title = {Connecting the Dots of Social Robot Design From Interviews With Robot Creators},
  author = {Alves-Oliveira, Patricia and Orr, Alaina and Bj{\"o}rling, Elin A and Cakmak, Maya},
  year = {2022},
  journal = {Frontiers in Robotics and AI},
  publisher = {Frontiers},
  pages = {127},
  url = {https://www.frontiersin.org/articles/10.3389/frobt.2022.720799/full},
  type = {journal}
}

journal Robot-mediated interventions for youth mental health
Patricia Alves-Oliveira, Tanya Budhiraja, Samuel So, Raida Karim, Elin Björling, Maya Cakmak
Design for Health, 2022
[bib] [url]

@article{alves2022robot,
  title = {Robot-mediated interventions for youth mental health},
  author = {Alves-Oliveira, Patricia and Budhiraja, Tanya and So, Samuel and Karim, Raida and Bj{\"o}rling, Elin and Cakmak, Maya},
  year = {2022},
  journal = {Design for Health},
  publisher = {Taylor \& Francis},
  volume = {6},
  number = {2},
  pages = {138--162},
  url = {https://www.tandfonline.com/doi/abs/10.1080/24735132.2022.2101825},
  type = {journal},
  doi = {10.1080/24735132.2022.2101825}
}

conference HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithyavairavan Murali, Maya Cakmak, Dieter Fox
IEEE International Conference on Robotics and Automation (ICRA), 2022
[bib] [url]

@inproceedings{chao2022handoversim,
  title = {HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers},
  author = {Chao, Yu-Wei and Paxton, Chris and Xiang, Yu and Yang, Wei and Sundaralingam, Balakumar and Chen, Tao and Murali, Adithyavairavan and Cakmak, Maya and Fox, Dieter},
  year = {2022},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {6941--6947},
  type = {conference},
  url = {https://ieeexplore.ieee.org/abstract/document/9812302},
  organization = {IEEE}
}

conference Model Predictive Control for Fluid Human-to-Robot Handovers
Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox
IEEE International Conference on Robotics and Automation (ICRA), 2022
[bib] [url]

@inproceedings{yang2022model,
  title = {Model Predictive Control for Fluid Human-to-Robot Handovers},
  author = {Yang, Wei and Sundaralingam, Balakumar and Paxton, Chris and Akinola, Iretiayo and Chao, Yu-Wei and Cakmak, Maya and Fox, Dieter},
  year = {2022},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {6956--6962},
  type = {conference},
  url = {https://ieeexplore.ieee.org/abstract/document/9812109},
  organization = {IEEE}
}

late-breaking Community-Based Data Visualization for Mental Well-being with a Social Robot
Raida Karim, Yufei Zhang, Patricia Alves-Oliveira, Elin A Björling, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction (HRI) - Late breaking reports, 2022
[bib]

@inproceedings{karim2022community,
  title = {Community-Based Data Visualization for Mental Well-being with a Social Robot},
  author = {Karim, Raida and Zhang, Yufei and Alves-Oliveira, Patricia and Bj{\"o}rling, Elin A and Cakmak, Maya},
  year = {2022},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI) - Late breaking reports},
  pages = {839--843},
  organization = {IEEE},
  type = {late-breaking}
}

late-breaking Authoring human simulators via probabilistic functional reactive program synthesis
Michael Jae-Yoon Chung, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction (HRI) - Late breaking reports, 2022
[bib]

@inproceedings{chung2022authoring,
  title = {Authoring human simulators via probabilistic functional reactive program synthesis},
  author = {Chung, Michael Jae-Yoon and Cakmak, Maya},
  year = {2022},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI) - Late breaking reports},
  pages = {727--730},
  organization = {IEEE},
  type = {late-breaking}
}

workshop Participatory Design for Mental Health Data Visualization on a Social Robot
Raida Karim, Edgar Lopez, Elin A Björling, Maya Cakmak
HRI 2022 Workshop on Participatory Design and End-User Programming for Human-Robot Interaction, 2022
[bib] [arxiv]

@inproceedings{karim2022participatory,
  title = {Participatory Design for Mental Health Data Visualization on a Social Robot},
  author = {Karim, Raida and Lopez, Edgar and Bj{\"o}rling, Elin A and Cakmak, Maya},
  year = {2022},
  month = mar,
  booktitle = {HRI 2022 Workshop on Participatory Design and End-User Programming for Human-Robot Interaction},
  type = {workshop},
  arxiv = {https://arxiv.org/abs/2210.06469}
}

2021

conference Learning Backchanneling Behaviors for a Social Robot via Data Augmentation from Human-Human Conversations
Michael Murray, Nick Walker, Amal Nanavati, Patricia Alves-Oliveira, Nikita Filippov, Allison Sauppe, Bilge Mutlu, Maya Cakmak
Conference on Robot Learning (CoRL), 2021
[pdf] [bib] [poster]

@inproceedings{murray2021backchanneling,
  title = {Learning Backchanneling Behaviors for a Social Robot via Data Augmentation from Human-Human Conversations},
  author = {Murray, Michael and Walker, Nick and Nanavati, Amal and Alves-Oliveira, Patricia and Filippov, Nikita and Sauppe, Allison and Mutlu, Bilge and Cakmak, Maya},
  year = {2021},
  month = nov,
  booktitle = {Conference on Robot Learning (CoRL)},
  location = {London, UK},
  type = {conference},
  poster = {https://openreview.net/attachment?id=0WDtVJVwBcf&name=poster}
}

conference Influencing Behavioral Attributions to Robot Motion During Task Execution
Nick Walker, Christoforos Mavrogiannis, Siddhartha Srinivasa, Maya Cakmak
Conference on Robot Learning (CoRL), 2021
[pdf] [bib] [url] [code] [poster]

@inproceedings{walker2021attributions,
  title = {Influencing Behavioral Attributions to Robot Motion During Task Execution},
  author = {Walker, Nick and Mavrogiannis, Christoforos and Srinivasa, Siddhartha and Cakmak, Maya},
  year = {2021},
  month = nov,
  booktitle = {Conference on Robot Learning (CoRL)},
  location = {London, UK},
  type = {conference},
  poster = {https://openreview.net/attachment?id=UIaodSPHNFN&name=poster},
  wwwextra = {https://openreview.net/attachment?id=UIaodSPHNFN&name=supplementary_material},
  codeurl = {https://github.com/nickswalker/influencing-behavioral-attributions},
  url = {https://attributions.nickwalker.us}
}

conference Modeling Human Helpfulness with Individual and Contextual Factors for Robot Planning
Amal Nanavati, Christoforos Mavrogiannis, Kevin Weatherwax, Leila Takayama, Maya Cakmak, Siddhartha S Srinivasa
Robotics: Science and Systems (R:SS), 2021
[pdf] [bib] [video] [url]

@inproceedings{nanavati2021modeling,
  title = {Modeling Human Helpfulness with Individual and Contextual Factors for Robot Planning},
  author = {Nanavati, Amal and Mavrogiannis, Christoforos and Weatherwax, Kevin and Takayama, Leila and Cakmak, Maya and Srinivasa, Siddhartha S},
  year = {2021},
  booktitle = {Robotics: Science and Systems (R:SS)},
  url = {https://roboticsconference.org/2021/program/papers/016/},
  type = {conference},
  video = {https://youtu.be/Z7zLNA4V_-o}
}

workshop Assistive tele-op: Leveraging transformers to collect robotic task demonstrations
Henry M Clever, Ankur Handa, Hammad Mazhar, Kevin Parker, Omer Shapira, Qian Wan, Yashraj Narang, Iretiayo Akinola, Maya Cakmak, Dieter Fox
4th NeurIPS Robot Learning Workshop on Self-Supervised and Lifelong Learning, 2021
[bib] [arxiv]

@inproceedings{clever2021assistive,
  title = {Assistive tele-op: Leveraging transformers to collect robotic task demonstrations},
  author = {Clever, Henry M and Handa, Ankur and Mazhar, Hammad and Parker, Kevin and Shapira, Omer and Wan, Qian and Narang, Yashraj and Akinola, Iretiayo and Cakmak, Maya and Fox, Dieter},
  year = {2021},
  booktitle = {4th NeurIPS Robot Learning Workshop on Self-Supervised and Lifelong Learning},
  arxiv = {https://arxiv.org/pdf/2112.05129.pdf},
  type = {workshop}
}

conference Cursor-based Robot Tele-manipulation through 2D-to-SE2 Interfaces
Maria E Cabrera, Kavi Dey, Kavita Krishnaswamy, Tapomayukh Bhattacharjee, Maya Cakmak
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
[bib]

@inproceedings{cabrera2021cursor,
  title = {Cursor-based Robot Tele-manipulation through 2D-to-SE2 Interfaces},
  author = {Cabrera, Maria E and Dey, Kavi and Krishnaswamy, Kavita and Bhattacharjee, Tapomayukh and Cakmak, Maya},
  year = {2021},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {4230--4237},
  type = {conference},
  organization = {IEEE}
}

conference An exploration of accessible remote tele-operation for assistive mobile manipulators in the home
Maria E Cabrera, Tapomayukh Bhattacharjee, Kavi Dey, Maya Cakmak
IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021
[bib]

@inproceedings{cabrera2021exploration,
  title = {An exploration of accessible remote tele-operation for assistive mobile manipulators in the home},
  author = {Cabrera, Maria E and Bhattacharjee, Tapomayukh and Dey, Kavi and Cakmak, Maya},
  year = {2021},
  booktitle = {IEEE International Conference on Robot \& Human Interactive Communication (RO-MAN)},
  pages = {1202--1209},
  type = {conference},
  organization = {IEEE}
}

conference Figaro: A tabletop authoring environment for human-robot interaction
David J Porfirio, Laura Stegner, Maya Cakmak, Allison Sauppé, Aws Albarghouthi, Bilge Mutlu
ACM SIGCHI Conference on Human Factors in Computing Systems (CHI), 2021
[bib]

@inproceedings{porfirio2021figaro,
  title = {Figaro: A tabletop authoring environment for human-robot interaction},
  author = {Porfirio, David J and Stegner, Laura and Cakmak, Maya and Saupp{\'e}, Allison and Albarghouthi, Aws and Mutlu, Bilge},
  year = {2021},
  booktitle = {ACM SIGCHI Conference on Human Factors in Computing Systems (CHI)},
  type = {conference},
  pages = {1--15}
}

conference Reactive Human-to-Robot Handovers of Arbitrary Objects
Wei Yang, Chris Paxton, Arsalan Mousavian, Yu-Wei Chao, Maya Cakmak, Dieter Fox
IEEE International Conference on Robotics and Automation (ICRA), 2021
Best HRI Paper Award Winner [bib] [arxiv]

@inproceedings{yang2021icra,
  title = {Reactive Human-to-Robot Handovers of Arbitrary Objects},
  author = {Yang, Wei and Paxton, Chris and Mousavian, Arsalan and Chao, Yu-Wei and Cakmak, Maya and Fox, Dieter},
  year = {2021},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  note = {Best HRI Paper Award Winner},
  type = {conference},
  arxiv = {https://arxiv.org/abs/2011.08961}
}

journal Affordance-aware handovers with human arm mobility constraints
Paola Ardón, Maria E Cabrera, Eric Pairet, Ronald PA Petrick, Subramanian Ramamoorthy, Katrin S Lohan, Maya Cakmak
IEEE Robotics and Automation Letters, 2021
[bib]

@article{ardon2021affordance,
  title = {Affordance-aware handovers with human arm mobility constraints},
  author = {Ard{\'o}n, Paola and Cabrera, Maria E and Pairet, Eric and Petrick, Ronald PA and Ramamoorthy, Subramanian and Lohan, Katrin S and Cakmak, Maya},
  year = {2021},
  journal = {IEEE Robotics and Automation Letters},
  publisher = {IEEE},
  volume = {6},
  number = {2},
  type = {journal},
  pages = {3136--3143}
}

2020

conference ConCodeIt! A Comparison of Concurrency Interfaces in Block-Based Visual Robot Programming
Michael Jae-Yoon Chung, Mino Nakura, Sai Harshita Neti, Anthony Lu, Elana Hummel, Maya Cakmak
IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2020
[pdf] [bib] [video]

@inproceedings{chung2020concodeit,
  title = {ConCodeIt! A Comparison of Concurrency Interfaces in Block-Based Visual Robot Programming},
  author = {Chung, Michael Jae-Yoon and Nakura, Mino and Neti, Sai Harshita and Lu, Anthony and Hummel, Elana and Cakmak, Maya},
  year = {2020},
  booktitle = {IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
  type = {conference},
  video = {https://youtu.be/wnGNpzsvaK0}
}

conference Iterative Repair of Social Robot Programs from Implicit User Feedback via Bayesian Inference
Michael Jae-Yoon Chung, Maya Cakmak
Robotics: Science and Systems (R:SS), 2020
[pdf] [bib] [video] [url]

@inproceedings{chung2020iterative,
  title = {Iterative Repair of Social Robot Programs from Implicit User Feedback via Bayesian Inference},
  author = {Chung, Michael Jae-Yoon and Cakmak, Maya},
  year = {2020},
  booktitle = {Robotics: Science and Systems (R:SS)},
  type = {conference},
  url = {https://www.roboticsproceedings.org/rss16/p028.html},
  video = {https://www.youtube.com/watch?v=LbcMxC_3x1U}
}

conference Human Perceptions of a Curious Robot that Performs Off-Task Actions
Nick Walker, Kevin Weatherwax, Julian Alchin, Leila Takayama, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2020
[pdf] [bib] [video]

@inproceedings{walker2020perceptions,
  title = {Human Perceptions of a Curious Robot that Performs Off-Task Actions},
  author = {Walker, Nick and Weatherwax, Kevin and Alchin, Julian and Takayama, Leila and Cakmak, Maya},
  year = {2020},
  month = mar,
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  location = {Oxford, UK},
  pages = {529–538},
  doi = {10.1145/3319502.3374821},
  isbn = {9781450367462},
  type = {conference},
  video = {https://www.youtube.com/watch?v=1j91ISstdH8}
}

conference Human Grasp Classification for Reactive Human-to-Robot Handovers
Wei Yang, Chris Paxton, Maya Cakmak, Dieter Fox
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
[bib]

@inproceedings{yang2020iros,
  title = {Human Grasp Classification for Reactive Human-to-Robot Handovers},
  author = {Yang, Wei and Paxton, Chris and Cakmak, Maya and Fox, Dieter},
  year = {2020},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  type = {conference}
}

journal Exploring Teens as Robot Operators, Users and Witnesses in the Wild
Elin A. Björling, Kyle Thomas, Emma Rose, Maya Cakmak
Frontiers Robotics and AI, 2020
[bib]

@article{bjorling2020frontiers,
  title = {Exploring Teens as Robot Operators, Users and Witnesses in the Wild},
  author = {Björling, Elin A. and Thomas, Kyle and Rose, Emma and Cakmak, Maya},
  year = {2020},
  journal = {Frontiers Robotics and AI},
  type = {journal}
}

late-breaking Robotic limb repositioning with supervised autonomy
Xinyi Wang, Kavita Krishnaswamy, Maria E Cabrera, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction – Late braking reports, 2020
[bib]

@inproceedings{wang2020robotic,
  title = {Robotic limb repositioning with supervised autonomy},
  author = {Wang, Xinyi and Krishnaswamy, Kavita and Cabrera, Maria E and Cakmak, Maya},
  year = {2020},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction -- Late braking reports},
  pages = {511--513},
  type = {late-breaking}
}

conference Interactive Tuning of Robot Program Parameters via Expected Divergence Maximization
Mattia Racca, Ville Kyrki, Maya Cakmak
ACM/IEEE International Conference on Human Robot Interaction (HRI), 2020
[bib]

@inproceedings{racca2020hri,
  title = {Interactive Tuning of Robot Program Parameters via Expected Divergence Maximization},
  author = {Racca, Mattia and Kyrki, Ville and Cakmak, Maya},
  year = {2020},
  booktitle = {ACM/IEEE International Conference on Human Robot Interaction (HRI)},
  type = {conference}
}

conference Is more autonomy always better? Exploring preferences of mobility-impaired users in robot-assisted feeding
Tapomayukh Bhattacharjee, Ethan K. Gordon, Rosario Scalise, Maria E. Cabrera, Anat Caspi, Maya Cakmak, Siddhartha S. Srinivasa
ACM/IEEE International Conference on Human Robot Interaction (HRI), 2020
[bib]

@inproceedings{bhattacharjee2020hri,
  title = {Is more autonomy always better? Exploring preferences of mobility-impaired users in robot-assisted feeding},
  author = {Bhattacharjee, Tapomayukh and Gordon, Ethan K. and Scalise, Rosario and Cabrera, Maria E. and Caspi, Anat and Cakmak, Maya and Srinivasa, Siddhartha S.},
  year = {2020},
  booktitle = {ACM/IEEE International Conference on Human Robot Interaction (HRI)},
  type = {conference}
}

2019

conference GestureCalc: An Eyes-Free Calculator for Touch Screens
Bindita Chaudhuri, Leah Perlmutter, Justin Petelka, Philip Garrison, James Fogarty, Jacob O. Wobbrock, Richard E. Ladner
International ACM SIGACCESS Conference on Computers and Accessibility, 2019
[bib] [url]

@inproceedings{chaudhuri2019gesturecalc,
  title = {GestureCalc: An Eyes-Free Calculator for Touch Screens},
  author = {Chaudhuri, Bindita and Perlmutter, Leah and Petelka, Justin and Garrison, Philip and Fogarty, James and Wobbrock, Jacob O. and Ladner, Richard E.},
  year = {2019},
  booktitle = {International ACM SIGACCESS Conference on Computers and Accessibility},
  location = {Pittsburgh, PA, USA},
  publisher = {ACM},
  address = {New York, NY, USA},
  series = {ASSETS '19},
  pages = {112--123},
  doi = {10.1145/3308561.3353783},
  isbn = {978-1-4503-6676-2},
  url = {https://doi.acm.org/10.1145/3308561.3353783},
  type = {conference},
  numpages = {12},
  acmid = {3353783},
  keywords = {digital calculator, eyes-free entry, gesture input, mobile devices, touch screen}
}

demo Demonstration of GestureCalc: An Eyes-Free Calculator for Touch Screens
Leah Perlmutter, Bindita Chaudhuri, Justin Petelka, Philip Garrison, James Fogarty, Jacob O. Wobbrock, Richard E. Ladner
International ACM SIGACCESS Conference on Computers and Accessibility, 2019
[bib] [url]

@inproceedings{perlmutter2019gesturecalcdemo,
  title = {Demonstration of GestureCalc: An Eyes-Free Calculator for Touch Screens},
  author = {Perlmutter, Leah and Chaudhuri, Bindita and Petelka, Justin and Garrison, Philip and Fogarty, James and Wobbrock, Jacob O. and Ladner, Richard E.},
  year = {2019},
  booktitle = {International ACM SIGACCESS Conference on Computers and Accessibility},
  location = {Pittsburgh, PA, USA},
  publisher = {ACM},
  address = {New York, NY, USA},
  series = {ASSETS '19},
  pages = {667--669},
  doi = {10.1145/3308561.3354595},
  isbn = {978-1-4503-6676-2},
  url = {https://doi.acm.org/10.1145/3308561.3354595},
  type = {demo},
  numpages = {3},
  acmid = {3354595},
  keywords = {digital calculator, eyes-free entry, gesture input, mobile devices, touch screen}
}

conference Vision-and-Dialog Navigation
Jesse Thomason, Michael Murray, Maya Cakmak, Luke Zettlemoyer
Conference on Robot Learning (CoRL), 2019
[pdf] [bib] [url]

@inproceedings{thomason2019visiondialog,
  title = {Vision-and-Dialog Navigation},
  author = {Thomason, Jesse and Murray, Michael and Cakmak, Maya and Zettlemoyer, Luke},
  year = {2019},
  month = nov,
  booktitle = {Conference on Robot Learning (CoRL)},
  publisher = {{PMLR}},
  series = {Proceedings of Machine Learning Research},
  volume = {100},
  pages = {394--406},
  url = {https://proceedings.mlr.press/v100/thomason20a.html},
  type = {conference},
  editor = {Kaelbling, Leslie Pack and Kragic, Danica and Sugiura, Komei}
}

workshop Horizontal Multi-Surface Random Sample Consensus for Robust Customizable Shelf Perception
Yu-Tang Peng, Justin Huang, Maya Cakmak
IROS 2019 Workshop on Different Approaches, the Same Goal: Autonomous Object Manipulation, 2019
[pdf] [bib]

@inproceedings{peng2019irosw,
  title = {Horizontal Multi-Surface Random Sample Consensus for Robust Customizable Shelf Perception},
  author = {Peng, Yu-Tang and Huang, Justin and Cakmak, Maya},
  year = {2019},
  month = nov,
  booktitle = {IROS 2019 Workshop on Different Approaches, the Same Goal: Autonomous Object Manipulation},
  type = {workshop}
}

conference A Community-Centered Design Framework for Robot-Assisted Feeding Systems
Tapomayukh Bhattacharjee, Maria E. Cabrera, Anat Caspi, Maya Cakmak, Siddhartha S. Srinivasa
International ACM SIGACCESS Conference on Computers and Accessibility, 2019
[bib] [url]

@inproceedings{bhattacharjee2019feeding,
  title = {A Community-Centered Design Framework for Robot-Assisted Feeding Systems},
  author = {Bhattacharjee, Tapomayukh and Cabrera, Maria E. and Caspi, Anat and Cakmak, Maya and Srinivasa, Siddhartha S.},
  year = {2019},
  booktitle = {International ACM SIGACCESS Conference on Computers and Accessibility},
  location = {Pittsburgh, PA, USA},
  publisher = {ACM},
  address = {New York, NY, USA},
  series = {ASSETS '19},
  pages = {482--494},
  doi = {10.1145/3308561.3353803},
  isbn = {978-1-4503-6676-2},
  url = {https://doi.acm.org/10.1145/3308561.3353803},
  type = {conference},
  numpages = {13},
  acmid = {3353803},
  keywords = {assistive feeding, assistive robotics}
}

workshop Desiderata for Planning Systems in General-Purpose Service Robots
Nick Walker, Yuqian Jiang, Maya Cakmak, Peter Stone
ICAPS Workshop on Planning and Robotics, 2019
[pdf] [bib] [slides]

@inproceedings{walker2019desiderata,
  title = {Desiderata for Planning Systems in General-Purpose Service Robots},
  author = {Walker, Nick and Jiang, Yuqian and Cakmak, Maya and Stone, Peter},
  year = {2019},
  month = jul,
  booktitle = {ICAPS Workshop on Planning and Robotics},
  type = {workshop},
  slides = {https://doi.org/10.5281/zenodo.3244795}
}

conference Neural Semantic Parsing with Anonymization for Command Understanding in General-Purpose Service Robots
Nick Walker, Yu-Tang Peng, Maya Cakmak
RoboCup 2019: Robot Soccer World Cup XXIII Symposium, 2019
[pdf] [bib] [arxiv] [url] [slides]

@incollection{walker2019parsing,
  title = {Neural Semantic Parsing with Anonymization for Command Understanding in General-Purpose Service Robots},
  author = {Walker, Nick and Peng, Yu-Tang and Cakmak, Maya},
  year = {2019},
  month = jul,
  booktitle = {RoboCup 2019: Robot Soccer World Cup {XXIII} Symposium},
  publisher = {Springer},
  series = {Lecture Notes in Artificial Intelligence},
  doi = {10.1007/978-3-030-35699-6_26},
  isbn = {978-3-030-35699-6},
  url = {https://arxiv.org/abs/1907.01115},
  type = {conference},
  editor = {Suthakorn, Jackrit and Williams, Mary-Anne and Niemueller, Tim and Chalup, Stephan},
  wwwtype = {symposium},
  arxiv = {https://arxiv.org/abs/1907.01115.pdf},
  wwwpdf = {https://arxiv.org/abs/1907.01115.pdf},
  slides = {https://doi.org/10.5281/zenodo.3253252}
}

conference Robot Object Referencing through Legible Situated Projections
Thomas Weng, Leah Perlmutter, Stefanos Nikolaidis, Siddhartha Srinivasa, Maya Cakmak
IEEE International Conference on Robotics and Automation (ICRA), 2019
[bib]

@inproceedings{weng2019referencing,
  title = {Robot Object Referencing through Legible Situated Projections},
  author = {Weng, Thomas and Perlmutter, Leah and Nikolaidis, Stefanos and Srinivasa, Siddhartha and Cakmak, Maya},
  year = {2019},
  month = may,
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {8004--8010},
  doi = {10.1109/ICRA.2019.8793638},
  issn = {1050-4729},
  type = {conference},
  keywords = {helmet mounted displays;human-robot interaction;mobile robots;object detection;target object;PR2 robot;robot object;legible situated projections;reference objects;complex task-oriented human-robot collaborations;robot-to-human information transfer;visual referencing;arrow-object match functions;head-mounted projector;Task analysis;Collaboration;Legged locomotion;Communication channels;Visualization;Computer science}
}

conference Synthesizing Robot Manipulation Programs from a Single Observed Human Demonstration
Justin Huang, Dieter Fox, Maya Cakmak
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
[bib]

@inproceedings{huang2019iros,
  title = {Synthesizing Robot Manipulation Programs from a Single Observed Human Demonstration},
  author = {Huang, Justin and Fox, Dieter and Cakmak, Maya},
  year = {2019},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  type = {conference}
}

conference The Effect of Interaction and Design Participation on Teenagers’ Attitudes towards Social Robots
Elin A. Björling, Wendy Xu, Maria E. Cabrera, Maya Cakmak
IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), 2019
[bib]

@inproceedings{bjorling2019roman,
  title = {The Effect of Interaction and Design Participation on Teenagers' Attitudes towards Social Robots},
  author = {Björling, Elin A. and Xu, Wendy and Cabrera, Maria E. and Cakmak, Maya},
  year = {2019},
  booktitle = {IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man)},
  type = {conference}
}

conference SHEBA: A Low-Cost Assistive Robot for Older Adults in the Developing World
Tamanna Motahar, Fahim Farden, Dibya P. Sarkar, M. Atiqul Islam, Maria E. Cabrera, Maya Cakmak
IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), 2019
[bib]

@inproceedings{motahar2019roman,
  title = {SHEBA: A Low-Cost Assistive Robot for Older Adults in the Developing World},
  author = {Motahar, Tamanna and Farden, Fahim and Sarkar, Dibya P. and Islam, M. Atiqul and Cabrera, Maria E. and Cakmak, Maya},
  year = {2019},
  booktitle = {IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man)},
  type = {conference}
}

journal Acceptance and perceived usefulness of robots to assist with activities of daily living and healthcare tasks
Amanda K. Hall, Uba Backonja, Ian Painter, Maya Cakmak, Minjung Sung, Timothy Lau, Hilaire J. Thompson, George Demiris
Journal on Assistive Technology, 2019
[bib]

@article{hall2019at,
  title = {Acceptance and perceived usefulness of robots to assist with activities of daily living and healthcare tasks},
  author = {Hall, Amanda K. and Backonja, Uba and Painter, Ian and Cakmak, Maya and Sung, Minjung and Lau, Timothy and Thompson, Hilaire J. and Demiris, George},
  year = {2019},
  journal = {Journal on Assistive Technology},
  type = {journal}
}

late-breaking Participatory design with teens: a social robot design challenge
Emma J Rose, Elin Björling, Maya Cakmak
18th ACM International Conference on Interaction Design and Children – Extended Abstracts, 2019
[bib]

@inproceedings{rose2019participatory,
  title = {Participatory design with teens: a social robot design challenge},
  author = {Rose, Emma J and Bj{\"o}rling, Elin and Cakmak, Maya},
  year = {2019},
  booktitle = {18th ACM International Conference on Interaction Design and Children -- Extended Abstracts},
  pages = {604--609},
  type = {late-breaking}
}

2018

conference RobotIST: Interactive Situated Tangible Robot Programming
Yasaman S. Sefidgar, Thomas Weng, Heather Harvey, Sarah Elliott, Maya Cakmak
Symposium on Spatial User Interaction (SUI), 2018
[bib]

@inproceedings{sefidgar2018robotist,
  title = {RobotIST: Interactive Situated Tangible Robot Programming},
  author = {Sefidgar, Yasaman S. and Weng, Thomas and Harvey, Heather and Elliott, Sarah and Cakmak, Maya},
  year = {2018},
  booktitle = {Symposium on Spatial User Interaction (SUI)},
  location = {Berlin, Germany},
  publisher = {ACM},
  address = {New York, NY, USA},
  series = {SUI '18},
  pages = {141--149},
  doi = {10.1145/3267782.3267921},
  isbn = {978-1-4503-5708-1},
  type = {conference},
  numpages = {9},
  acmid = {3267921},
  keywords = {Direct Manipulation, Robot Programming, Situated Programming, Tangible Programming, Transparency}
}

conference "How was your stay?": Exploring the Use of Robots for Gathering Customer Feedback in the Hospitality Industry
Michael Jae-Yoon Chung, Maya Cakmak
IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2018
[pdf] [bib]

@inproceedings{chung2018roman,
  title = {"How was your stay?": Exploring the Use of Robots for Gathering Customer Feedback in the Hospitality Industry},
  author = {Chung, Michael Jae-Yoon and Cakmak, Maya},
  year = {2018},
  booktitle = {IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
  pages = {947--954},
  doi = {10.1109/ROMAN.2018.8525604},
  isbn = {978-1-5386-7980-7},
  issn = {1944-9437},
  type = {conference},
  organization = {IEEE}
}

conference Characterizing the Design Space of Rendered Robot Faces
Alisa Kalegina, Grace Schroeder, Aidan Allchin, Keara Berlin, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2018
Best Paper Award Finalist [pdf] [bib]

@inproceedings{kalegina2018hri,
  title = {Characterizing the Design Space of Rendered Robot Faces},
  author = {Kalegina, Alisa and Schroeder, Grace and Allchin, Aidan and Berlin, Keara and Cakmak, Maya},
  year = {2018},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  pages = {96--104},
  doi = {10.1145/3171221.3171286},
  isbn = {9781450349536},
  note = {Best Paper Award Finalist},
  type = {conference},
  organization = {ACM}
}

conference Simultaneous End-User Programming of Goals and Actions for Robotic Shelf Organization
Ying S. Liang, Damien Pellier, Humbert Fiorino, Sylvie Pesty, Maya Cakmak
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
[bib]

@inproceedings{ying2018iros,
  title = {Simultaneous End-User Programming of Goals and Actions for Robotic Shelf Organization},
  author = {Liang, Ying S. and Pellier, Damien and Fiorino, Humbert and Pesty, Sylvie and Cakmak, Maya},
  year = {2018},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  type = {conference}
}

conference RobotIST: Interactive Situated Tangible Robot Programming
Yasaman Sefidgar, Thomas Weng, Heather Harvey, Sarah Elliott, Maya Cakmak
ACM Symposium on Spatial User Interaction (SUI), 2018
[bib]

@inproceedings{sefidgar18sui,
  title = {RobotIST: Interactive Situated Tangible Robot Programming},
  author = {Sefidgar, Yasaman and Weng, Thomas and Harvey, Heather and Elliott, Sarah and Cakmak, Maya},
  year = {2018},
  booktitle = {ACM Symposium on Spatial User Interaction (SUI)},
  type = {conference}
}

conference How was your stay?: Exploring the Use of Robots for Gathering Customer Feedback in the Hospitality Industry
Michael J.Y. Chung, Maya Cakmak
IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2018
[bib]

@inproceedings{chung18roman,
  title = {How was your stay?: Exploring the Use of Robots for Gathering Customer Feedback in the Hospitality Industry},
  author = {Chung, Michael J.Y. and Cakmak, Maya},
  year = {2018},
  booktitle = {IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
  type = {conference}
}

conference Robotic Cleaning through Dirt Rearrangement Planning with Learned Transition Models
Sarah Elliott, Maya Cakmak
IEEE International Conference on Robotics and Automation (ICRA), 2018
[bib]

@inproceedings{elliott2018icra,
  title = {Robotic Cleaning through Dirt Rearrangement Planning with Learned Transition Models},
  author = {Elliott, Sarah and Cakmak, Maya},
  year = {2018},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  type = {conference}
}

journal Teaching Robots New Tasks through Natural Interaction
A.L. Thomaz, E. Lieven, M. Cakmak, J.Y. Chai, S. Garrod, W.D. Gray, S.C. Levinson, A. Paiva, N. Russwinkel
ES Forum on Interactive Task Learning: Agents, Robots, and Humans Acquiring New Tasks through Natural Interactions, 2018
[bib]

@article{thomaz2018esforum,
  title = {Teaching Robots New Tasks through Natural Interaction},
  author = {Thomaz, A.L. and Lieven, E. and Cakmak, M. and Chai, J.Y. and Garrod, S. and Gray, W.D. and Levinson, S.C. and Paiva, A. and Russwinkel, N.},
  year = {2018},
  journal = {ES Forum on Interactive Task Learning: Agents, Robots, and Humans Acquiring New Tasks through Natural Interactions},
  type = {journal},
  volume = {Chapter 9}
}

late-breaking Multi-perspective multimodal and machine learning for accessible robotic web interface
K Krishnaswamy, T Adamson, M Cakmak, T Oates
Rehabilitation Engineering and Assistive Technology Society of North America Annual Conference (RESNA), 2018
[bib]

@inproceedings{krishnaswamy2018multi,
  title = {Multi-perspective multimodal and machine learning for accessible robotic web interface},
  author = {Krishnaswamy, K and Adamson, T and Cakmak, M and Oates, T},
  year = {2018},
  booktitle = {Rehabilitation Engineering and Assistive Technology Society of North America Annual Conference (RESNA)},
  pages = {1--4},
  type = {late-breaking},
  organization = {RESNA}
}

journal Interaction for Task Instruction and Learning
Joyce Y. Chai, Maya Cakmak, Candance Sidner
ES Forum on Interactive Task Learning: Agents, Robots, and Humans Acquiring New Tasks through Natural Interactions, 2018
[bib]

@article{chai2018esforum,
  title = {Interaction for Task Instruction and Learning},
  author = {Chai, Joyce Y. and Cakmak, Maya and Sidner, Candance},
  year = {2018},
  journal = {ES Forum on Interactive Task Learning: Agents, Robots, and Humans Acquiring New Tasks through Natural Interactions},
  type = {journal},
  volume = {Chapter 7}
}

journal Accessible Making: Designing Makerspaces for Accessibility
Katherine M. Steele, Brianna Blaser, Maya Cakmak
International Journal of Designs for Learning, 2018
[bib]

@article{steele2018accessible,
  title = {Accessible Making: Designing Makerspaces for Accessibility},
  author = {Steele, Katherine M. and Blaser, Brianna and Cakmak, Maya},
  year = {2018},
  journal = {International Journal of Designs for Learning},
  volume = {9},
  number = {1},
  type = {journal},
  pages = {114--121}
}

2017

conference Evaluating Older Adults Interaction with a Mobile Assistive Robot
Caio Mucchiani, Suneet Sharma, Megan Johnson, Justine Sefcik, Nicholas Vivio, Justin Huang, Pamela Cacchione, Michelle J. Johnson, Roshan Rai, Adrian Canoso, Tessa Lau, Mark Yim
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
[bib]

@inproceedings{mucchiani2017iros,
  title = {Evaluating Older Adults Interaction with a Mobile Assistive Robot},
  author = {Mucchiani, Caio and Sharma, Suneet and Johnson, Megan and Sefcik, Justine and Vivio, Nicholas and Huang, Justin and Cacchione, Pamela and Johnson, Michelle J. and Rai, Roshan and Canoso, Adrian and Lau, Tessa and and Mark Yim},
  year = {2017},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {840--847},
  doi = {10.1109/IROS.2017.8202246},
  isbn = {978-1-5386-2682-5},
  issn = {2153-0866},
  type = {conference}
}

conference Learning Generalizable Surface Cleaning Actions from Demonstration
Sarah Elliott, Zhe Xu, Maya Cakmak
Robot and Human Interactive Communication (RO-MAN), 2017 26th IEEE International Symposium on, 2017
[pdf] [bib]

@inproceedings{elliott2017romanlearning,
  title = {Learning Generalizable Surface Cleaning Actions from Demonstration},
  author = {Elliott, Sarah and Xu, Zhe and Cakmak, Maya},
  year = {2017},
  booktitle = {Robot and Human Interactive Communication (RO-MAN), 2017 26th IEEE International Symposium on},
  pages = {993--999},
  doi = {10.1109/ROMAN.2017.8172424},
  isbn = {978-1-5386-3518-6},
  issn = {1944-9437},
  type = {conference},
  organization = {IEEE}
}

conference Efficient Programming of Manipulation Tasks by Demonstration and Adaptation
Sarah Elliott, Russell Toris, Maya Cakmak
Robot and Human Interactive Communication (RO-MAN), 2017 26th IEEE International Symposium on, 2017
[pdf] [bib]

@inproceedings{elliott2017romanefficient,
  title = {Efficient Programming of Manipulation Tasks by Demonstration and Adaptation},
  author = {Elliott, Sarah and Toris, Russell and Cakmak, Maya},
  year = {2017},
  booktitle = {Robot and Human Interactive Communication (RO-MAN), 2017 26th IEEE International Symposium on},
  pages = {1146--1153},
  doi = {10.1109/ROMAN.2017.8172448},
  isbn = {978-1-5386-3518-6},
  issn = {1944-9437},
  type = {conference},
  organization = {IEEE}
}

conference Flexible User Specification of Perceptual Landmarks for Robot Manipulation
Justin Huang, Maya Cakmak
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
[pdf] [bib]

@inproceedings{huang2017iros,
  title = {Flexible User Specification of Perceptual Landmarks for Robot Manipulation},
  author = {Huang, Justin and Cakmak, Maya},
  year = {2017},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {3296--3303},
  doi = {10.1109/IROS.2017.8206166},
  isbn = {978-1-5386-2682-5},
  issn = {2153-0866},
  type = {conference}
}

conference Toys that Listen: A Study of Parents, Children, and Internet-Connected Toys
Emily McReynolds, Sarah Hubbard, Timothy Lau, Aditya Saraf, Maya Cakmak, Franziska Roesner
ACM SIGCHI Conference on Human Factors in Computing Systems (CHI), 2017
[pdf] [bib]

@inproceedings{mcreynolds2017chi,
  title = {Toys that Listen: A Study of Parents, Children, and Internet-Connected Toys},
  author = {McReynolds, Emily and Hubbard, Sarah and Lau, Timothy and Saraf, Aditya and Cakmak, Maya and Roesner, Franziska},
  year = {2017},
  booktitle = {ACM SIGCHI Conference on Human Factors in Computing Systems (CHI)},
  publisher = {Association for Computing Machinery},
  pages = {5197–-5207},
  doi = {10.1145/3025453.3025735},
  isbn = {9781450346559},
  type = {conference}
}

conference Code3: A System for End-to-End Programming of Mobile Manipulator Robots for Novices and Experts
Justin Huang, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2017
[pdf] [bib]

@inproceedings{huang2017hri,
  title = {Code3: A System for End-to-End Programming of Mobile Manipulator Robots for Novices and Experts},
  author = {Huang, Justin and Cakmak, Maya},
  year = {2017},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  publisher = {Association for Computing Machinery},
  pages = {453–-462},
  doi = {10.1145/2909824.3020215},
  isbn = {9781450343367},
  type = {conference}
}

conference Situated Tangible Robot Programming
Yasaman Sefidgar, Prerna Agarwal, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2017
Best paper award finalist [pdf] [bib]

@inproceedings{sefidgar2017hri,
  title = {Situated Tangible Robot Programming},
  author = {Sefidgar, Yasaman and Agarwal, Prerna and Cakmak, Maya},
  year = {2017},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  publisher = {Association for Computing Machinery},
  pages = {473–-482},
  doi = {10.1145/2909824.3020240},
  isbn = {9781450343367},
  note = {Best paper award finalist},
  type = {conference},
  www-note = {Best paper award finalist}
}

conference Computer Science Outreach with End-User Robot-Programming Tools
Vivek Paramasivam, Justin Huang, Sarah Elliott, Maya Cakmak
ACM Technical Symposium on Computing Science Education (SIGCSE), 2017
[pdf] [bib]

@inproceedings{paramasivam2017sigcse,
  title = {Computer Science Outreach with End-User Robot-Programming Tools},
  author = {Paramasivam, Vivek and Huang, Justin and Elliott, Sarah and Cakmak, Maya},
  year = {2017},
  booktitle = {ACM Technical Symposium on Computing Science Education (SIGCSE)},
  type = {conference}
}

journal Efficient human-robot interaction: when should a robot take initiative during collaboration?
Jimmy Baraglia, Maya Cakmak, Yukie Nagai, Rajesh P.N. Rao, Minoru Asada
International Journal on Robotics Research (IJRR), 2017
[bib]

@article{baraglia2017ijrr,
  title = {Efficient human-robot interaction: when should a robot take initiative during collaboration?},
  author = {Baraglia, Jimmy and Cakmak, Maya and Nagai, Yukie and Rao, Rajesh P.N. and Asada, Minoru},
  year = {2017},
  month = feb,
  journal = {International Journal on Robotics Research (IJRR)},
  volume = {36},
  number = {5-7},
  pages = {563--579},
  doi = {10.1177/0278364916688253},
  type = {journal}
}

conference Interactive scene segmentation for efficient human-in-the-loop robot manipulation
Daniel J. Butler, Sarah Elliot, Maya Cakmak
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
[bib]

@inproceedings{butler2017iros,
  title = {Interactive scene segmentation for efficient human-in-the-loop robot manipulation},
  author = {Butler, Daniel J. and Elliot, Sarah and Cakmak, Maya},
  year = {2017},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {2572--2579},
  type = {conference}
}

workshop A system for situated tangible programming of robot skills
Yasaman Sefidgar, Sarah Elliott, Maya Cakmak
IROS Workshop on Learning for Collaborative Robotics: Enabling Flexible, Redeployable and Agile Industrial Applications, 2017
[bib]

@inproceedings{sefidgar2017system,
  title = {A system for situated tangible programming of robot skills},
  author = {Sefidgar, Yasaman and Elliott, Sarah and Cakmak, Maya},
  year = {2017},
  booktitle = {IROS Workshop on Learning for Collaborative Robotics: Enabling Flexible, Redeployable and Agile Industrial Applications},
  type = {workshop}
}

journal Comfort and Attitudes Towards Robots Among Young, Middle‐Aged, and Older Adults: A Cross‐Sectional Study
Uba Backonja, Amanda K. Hall, Ian Painter, L Kneale, Amanda Lazar, Maya Cakmak, Hilaire J. Thompson, George Demiris
Journal of Nursing Scholarship, 2017
[bib]

@article{backonja2017nursing,
  title = {Comfort and Attitudes Towards Robots Among Young, Middle‐Aged, and Older Adults: A Cross‐Sectional Study},
  author = {Backonja, Uba and Hall, Amanda K. and Painter, Ian and Kneale, L and Lazar, Amanda and Cakmak, Maya and Thompson, Hilaire J. and Demiris, George},
  year = {2017},
  journal = {Journal of Nursing Scholarship},
  volume = {6},
  number = {50},
  pages = {1--8},
  type = {journal}
}

2016

journal Computational Human-Robot Interaction
Andrea Thomaz, Guy Hoffman, Maya Cakmak
Foundations and Trends in Robotics, 2016
[bib]

@article{thomaz2016,
  title = {Computational Human-Robot Interaction},
  author = {Thomaz, Andrea and Hoffman, Guy and Cakmak, Maya},
  year = {2016},
  month = dec,
  journal = {Foundations and Trends in Robotics},
  volume = {4},
  number = {2-3},
  pages = {105--223},
  doi = {10.1561/2300000049},
  isbn = {978-1-68083-209-9},
  issn = {1935-8253},
  type = {journal}
}

conference Autonomous Question Answering with Mobile Robots in Human-Populated Environments
Michael J. Chung, Andrzej Pronobis, Maya Cakmak, Dieter Fox, Rajesh P.N. Rao
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016
[pdf] [bib]

@inproceedings{chung2016iros,
  title = {Autonomous Question Answering with Mobile Robots in Human-Populated Environments},
  author = {Chung, Michael J. and Pronobis, Andrzej and Cakmak, Maya and Fox, Dieter and Rao, Rajesh P.N.},
  year = {2016},
  month = oct,
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {823--830},
  doi = {10.1109/IROS.2016.7759146},
  isbn = {978-1-5090-3762-9},
  issn = {2153-0866},
  type = {conference}
}

conference Iterative Design of a System for Programming Socially Interactive Service Robots
Michael J. Chung, Justin Huang, Leila Takayama, Tessa Lau, Maya Cakmak
International Conference on Social Robotics (ICSR), 2016
[pdf] [bib]

@inproceedings{chung2016icsr,
  title = {Iterative Design of a System for Programming Socially Interactive Service Robots},
  author = {Chung, Michael J. and Huang, Justin and Takayama, Leila and Lau, Tessa and Cakmak, Maya},
  year = {2016},
  booktitle = {International Conference on Social Robotics (ICSR)},
  type = {conference}
}

conference Automatic Adaptation of Online Language Lessons for Robot Tutoring
Leah Perlmutter, Alexander Fiannaca, Eric Kernfeld, Sahil Anand, Lindsey Arnold, Maya Cakmak
International Conference on Social Robotics (ICSR), 2016
[pdf] [bib]

@inproceedings{perlmutter2016icsr,
  title = {Automatic Adaptation of Online Language Lessons for Robot Tutoring},
  author = {Perlmutter, Leah and Fiannaca, Alexander and Kernfeld, Eric and Anand, Sahil and Arnold, Lindsey and Cakmak, Maya},
  year = {2016},
  booktitle = {International Conference on Social Robotics (ICSR)},
  type = {conference}
}

conference Situated Language Understanding with Human-like and Visualization-Based Transparency
Leah Perlmutter, Eric Kernfeld, Maya Cakmak
Robotics: Science and Systems (R:SS), 2016
[pdf] [bib] [video] [url]

@article{perlmutter2016rss,
  title = {Situated Language Understanding with Human-like and Visualization-Based Transparency},
  author = {Perlmutter, Leah and Kernfeld, Eric and Cakmak, Maya},
  year = {2016},
  booktitle = {Robotics: Science and Systems (R:SS)},
  doi = {10.15607/RSS.2016.XII.040},
  type = {conference},
  url = {https://www.roboticsproceedings.org/rss12/p40.html},
  video = {https://www.youtube.com/watch?v=Dj1_12PEkGo&t=13s}
}

conference Making Objects Graspable in Confined Environments through Push and Pull Manipulation with a Tool
Sarah Elliott, Michelle Valente, Maya Cakmak
IEEE International Conference on Robotics and Automation (ICRA), 2016
[pdf] [bib] [video]

@inproceedings{elliott16icra,
  title = {Making Objects Graspable in Confined Environments through Push and Pull Manipulation with a Tool},
  author = {Elliott, Sarah and Valente, Michelle and Cakmak, Maya},
  year = {2016},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {4851--4858},
  doi = {10.1109/ICRA.2016.7487689},
  isbn = {978-1-4673-8026-3},
  type = {conference},
  video = {https://www.youtube.com/watch?v=1Mcg0SnOoEA}
}

conference Design and Evaluation of a Rapid Programming System for Service Robots
Justin Huang, Tessa Lau, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2016
[pdf] [bib] [code]

@inproceedings{huang2016hri,
  title = {Design and Evaluation of a Rapid Programming System for Service Robots},
  author = {Huang, Justin and Lau, Tessa and Cakmak, Maya},
  year = {2016},
  month = mar,
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  pages = {295--302},
  doi = {10.1109/HRI.2016.7451765},
  isbn = {978-1-4673-8370-7},
  issn = {2167-2148},
  type = {conference},
  codeurl = {https://github.com/hcrlab/code_it}
}

conference Initiative in Robot Assistance during Collaborative Task Execution
Jimmy Baraglia, Maya Cakmak, Yukie Nagai, Rajesh P.N. Rao, Minoru Asada
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2016
[pdf] [bib]

@inproceedings{baraglia2016hri,
  title = {Initiative in Robot Assistance during Collaborative Task Execution},
  author = {Baraglia, Jimmy and Cakmak, Maya and Nagai, Yukie and Rao, Rajesh P.N. and Asada, Minoru},
  year = {2016},
  month = mar,
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  pages = {67--74},
  doi = {10.1109/HRI.2016.7451735},
  isbn = {978-1-4673-8370-7},
  issn = {2167-2148},
  type = {conference}
}

conference Enabling Building Service Robots to Guide Blind People: a Participatory Design Approach
Shiri Azenkot, Catherine Feng, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2016
Best paper award finalist [pdf] [bib]

@inproceedings{azenkot2016hri,
  title = {Enabling Building Service Robots to Guide Blind People: a Participatory Design Approach},
  author = {Azenkot, Shiri and Feng, Catherine and Cakmak, Maya},
  year = {2016},
  month = mar,
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  pages = {3--10},
  doi = {10.1109/HRI.2016.7451727},
  isbn = {978-1-4673-8370-7},
  issn = {2167-2148},
  note = {Best paper award finalist},
  type = {conference},
  www-note = {Best paper award finalist}
}

2015

journal Power to the people: The role of humans in interactive machine learning
Saleema Amershi, Maya Cakmak, W. Bradley Knox, Todd Kulesza
Artificial Intelligence Magazine, 2015
[pdf] [bib]

@article{amershi2015aimag,
  title = {Power to the people: The role of humans in interactive machine learning},
  author = {Amershi, Saleema and Cakmak, Maya and Knox, W. Bradley and Kulesza, Todd},
  year = {2015},
  journal = {Artificial Intelligence Magazine},
  pages = {105--120},
  doi = {10.1609/aimag.v35i4.2513},
  type = {journal}
}

conference Supporting mental model accuracy in trigger-action programming
Justin Huang, Maya Cakmak
ACM International Joint Conference on Pervasive and Ubiquitous Computing (UbiComp), 2015
[pdf] [bib]

@inproceedings{huang2015ubicomp,
  title = {Supporting mental model accuracy in trigger-action programming},
  author = {Huang, Justin and Cakmak, Maya},
  year = {2015},
  booktitle = {ACM International Joint Conference on Pervasive and Ubiquitous Computing (UbiComp)},
  publisher = {Association for Computing Machinery},
  pages = {215--225},
  doi = {10.1145/2750858.2805830},
  isbn = {9781450335744},
  type = {conference}
}

conference Designing Information Gathering Robots for Human-Populated Environments
Michael J. Chung, Andrzej Pronobis, Maya Cakmak, Dieter Fox, Rajesh P.N. Rao
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
[pdf] [bib]

@inproceedings{chung2015iros,
  title = {Designing Information Gathering Robots for Human-Populated Environments},
  author = {Chung, Michael J. and Pronobis, Andrzej and Cakmak, Maya and Fox, Dieter and Rao, Rajesh P.N.},
  year = {2015},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {5755--5762},
  doi = {10.1109/IROS.2015.7354194},
  isbn = {978-1-4799-9994-1},
  type = {conference}
}

conference Adaptive Coordination Strategies for Human-Robot Handovers
Chien-Ming Huang, Maya Cakmak, Bilge Mutlu
Robotics: Science and Systems (R:SS), 2015
[pdf] [bib] [url]

@inproceedings{huang2015rss,
  title = {Adaptive Coordination Strategies for Human-Robot Handovers},
  author = {Huang, Chien-Ming and Cakmak, Maya and Mutlu, Bilge},
  year = {2015},
  booktitle = {Robotics: Science and Systems (R:SS)},
  doi = {10.15607/RSS.2015.XI.031},
  type = {conference},
  url = {https://www.roboticsproceedings.org/rss11/p31.html}
}

conference RoboFlow: A Flow-based Visual Programming Language for Mobile Manipulation Tasks
Zachary Tatlock Sonya Alexandrova, Maya Cakmak
IEEE International Conference on Robotics and Automation (ICRA), 2015
[pdf] [bib] [video]

@inproceedings{alexandrova2015icra,
  title = {RoboFlow: A Flow-based Visual Programming Language for Mobile Manipulation Tasks},
  author = {Sonya Alexandrova, Zachary Tatlock and Cakmak, Maya},
  year = {2015},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {5537--5544},
  doi = {10.1109/ICRA.2015.7139973},
  isbn = {978-1-4799-6923-4},
  type = {conference},
  video = {https://www.youtube.com/watch?v=CEKFUMBNEmU&t=8s}
}

conference Robot Programming by Demonstration with Situated Spatial Language Understanding
Maxwell Forbes, Rajesh P.N. Rao, Luke Zettlemoyer, Maya Cakmak
IEEE International Conference on Robotics and Automation (ICRA), 2015
[pdf] [bib] [video]

@inproceedings{forbes2015icra,
  title = {Robot Programming by Demonstration with Situated Spatial Language Understanding},
  author = {Forbes, Maxwell and Rao, Rajesh P.N. and Zettlemoyer, Luke and Cakmak, Maya},
  year = {2015},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {2014--2020},
  doi = {10.1109/ICRA.2015.7139462},
  isbn = {978-1-4799-6923-4},
  type = {conference},
  video = {https://www.youtube.com/watch?v=_CUSX1GhjuA}
}

conference The Privacy-Utility Tradeoff for Remotely Teleoperated Robots
Daniel J. Butler, Justin Huang, Franziska Roesner, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2015
[pdf] [bib]

@inproceedings{butler2015hri,
  title = {The Privacy-Utility Tradeoff for Remotely Teleoperated Robots},
  author = {Butler, Daniel J. and Huang, Justin and Roesner, Franziska and Cakmak, Maya},
  year = {2015},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  pages = {27--34},
  doi = {10.1145/2696454.2696484},
  isbn = {9781450328838},
  type = {conference}
}

late-breaking Design of a Guide Robot for Blind People in Indoor Environments
Catherine Feng, Shiri Azenkot, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction (HRI) – Late breaking reports, 2015
[pdf] [bib]

@inproceedings{feng2015hrilbr,
  title = {Design of a Guide Robot for Blind People in Indoor Environments},
  author = {Feng, Catherine and Azenkot, Shiri and Cakmak, Maya},
  year = {2015},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI) -- Late breaking reports},
  pages = {107--108},
  doi = {10.1145/2701973.2702060},
  isbn = {9781450333184},
  type = {late-breaking}
}

late-breaking Visual Robot Programming for Generalizable Mobile Manipulation Tasks
Sonya Alexandrova, Zachary Tatlock, Maya Cakmak
ACM/IEEE International Conference on Human-Robot Interaction (HRI) – Late breaking reports, 2015
[pdf] [bib]

@inproceedings{alexandrova2015hrilbr,
  title = {Visual Robot Programming for Generalizable Mobile Manipulation Tasks},
  author = {Alexandrova, Sonya and Tatlock, Zachary and Cakmak, Maya},
  year = {2015},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI) -- Late breaking reports},
  pages = {163--164},
  doi = {10.1145/2701973.2702052},
  isbn = {9781450333184},
  type = {late-breaking}
}

late-breaking Exploring the Potential of Information Gathering Robots
Michael J. Chung, Andrzej Pronobis, Maya Cakmak, Dieter Fox, Rajesh P.N. Rao
ACM/IEEE International Conference on Human-Robot Interaction (HRI) – Late breaking reports, 2015
[pdf] [bib]

@inproceedings{chung2015hrilbr,
  title = {Exploring the Potential of Information Gathering Robots},
  author = {Chung, Michael J. and Pronobis, Andrzej and Cakmak, Maya and Fox, Dieter and Rao, Rajesh P.N.},
  year = {2015},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI) -- Late breaking reports},
  pages = {29--30},
  doi = {10.1145/2701973.2701996},
  isbn = {9781450333184},
  type = {late-breaking}
}

2014

conference Robot Programming by Demonstration with Crowdsourced Action Fixes
Maxwell Forbes, Michael J. Chung, Maya Cakmak, Rajesh P.N. Rao
AAAI Conference on Human Computation and Crowdsourcing (HCOMP), 2014
[pdf] [bib]

@inproceedings{forbes2014hcomp,
  title = {Robot Programming by Demonstration with Crowdsourced Action Fixes},
  author = {Forbes, Maxwell and Chung, Michael J. and Cakmak, Maya and Rao, Rajesh P.N.},
  year = {2014},
  booktitle = {AAAI Conference on Human Computation and Crowdsourcing (HCOMP)},
  type = {conference}
}

conference Enhanced robotic cleaning with a low-cost tool attachment
Zhe Xu, Maya Cakmak
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014
[pdf] [bib] [video]

@inproceedings{xu2014iros,
  title = {Enhanced robotic cleaning with a low-cost tool attachment},
  author = {Xu, Zhe and Cakmak, Maya},
  year = {2014},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {2595--2601},
  doi = {10.1109/IROS.2014.6942916},
  isbn = {978-1-4799-6934-0},
  issn = {2153-0866},
  type = {conference},
  video = {https://www.youtube.com/watch?v=wiZOTpRkB7Y}
}

conference Robot programming by demonstration with interactive action visualizations
Sonya Alexandrova, Maya Cakmak, Kaijen Hsiao, Leila Takayama
Robotics: Science and Systems (R:SS), 2014
[pdf] [bib] [video] [url]

@inproceedings{alexandrova2014rss,
  title = {Robot programming by demonstration with interactive action visualizations},
  author = {Alexandrova, Sonya and Cakmak, Maya and Hsiao, Kaijen and Takayama, Leila},
  year = {2014},
  booktitle = {Robotics: Science and Systems (R:SS)},
  pages = {48--56},
  doi = {10.15607/RSS.2014.X.048},
  type = {conference},
  video = {https://www.youtube.com/watch?v=Eo7r0ex3JT0},
  url = {https://www.roboticsproceedings.org/rss10/p48.html}
}

conference Accelerating imitation learning through crowdsourcing
Michael J. Chung, Maxwell Forbes, Maya Cakmak, Rajesh P.N. Rao
IEEE International Conference on Robotics and Automation (ICRA), 2014
[pdf] [bib] [video]

@inproceedings{chung2014icra,
  title = {Accelerating imitation learning through crowdsourcing},
  author = {Chung, Michael J. and Forbes, Maxwell and Cakmak, Maya and Rao, Rajesh P.N.},
  year = {2014},
  month = may,
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {4777--4784},
  doi = {10.1109/ICRA.2014.6907558},
  isbn = {978-1-4799-3685-4},
  issn = {1050-4729},
  type = {conference},
  video = {https://www.youtube.com/watch?v=x30Qw9Vry7k}
}

conference Teaching people how to teach robots: The effect of instructional materials and dialog design
Maya Cakmak, Leila Takayama
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2014
[pdf] [bib] [video]

@inproceedings{cakmak2014hri,
  title = {Teaching people how to teach robots: The effect of instructional materials and dialog design},
  author = {Cakmak, Maya and Takayama, Leila},
  year = {2014},
  booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  pages = {431--438},
  doi = {10.1145/2559636.2559675},
  isbn = {9781450326582},
  type = {conference},
  video = {https://www.youtube.com/watch?v=ZXzNiXx3v4M}
}

conference Programming by Demonstration with Situated Semantic Parsing
Yoav Artzi, Maxwell Forbes, Kenton Lee, Maya Cakmak
AAAI Fall Symposium Series: Artificial Intelligence for Human-Robot Interaction, 2014
[pdf] [bib]

@inproceedings{artzi2014aaaifs,
  title = {Programming by Demonstration with Situated Semantic Parsing},
  author = {Artzi, Yoav and Forbes, Maxwell and Lee, Kenton and Cakmak, Maya},
  year = {2014},
  booktitle = {AAAI Fall Symposium Series: Artificial Intelligence for Human-Robot Interaction},
  type = {conference}
}

workshop Robot Factors: An Alternative Approach for Closing the Gap in Human versus Robot Manipulation
Zhe Xu, Maya Cakmak
RSS Workshop on Human versus Robot Grasping and Manipulation – How Can We Close the Gap?, 2014
[pdf] [bib]

@inproceedings{xu2014rssw,
  title = {Robot Factors: An Alternative Approach for Closing the Gap in Human versus Robot Manipulation},
  author = {Xu, Zhe and Cakmak, Maya},
  year = {2014},
  booktitle = {RSS Workshop on Human versus Robot Grasping and Manipulation -- How Can We Close the Gap?},
  type = {workshop}
}

workshop Grounding Antonym Adjective Pairs through Interaction
Maxwell Forbes, Michael J. Chung, Maya Cakmak, Luke Zettlemoyer, Rajesh P.N. Rao
HRI Workshop on Humans and Robots in Asymmetric Interactions, 2014
[pdf] [bib]

@inproceedings{forbes2014hriw,
  title = {Grounding Antonym Adjective Pairs through Interaction},
  author = {Forbes, Maxwell and Chung, Michael J. and Cakmak, Maya and Zettlemoyer, Luke and Rao, Rajesh P.N.},
  year = {2014},
  booktitle = {HRI Workshop on Humans and Robots in Asymmetric Interactions},
  type = {workshop}
}