Designing Embodied Telepresence for Remote Collaboration: A Comparative Study of Robots and Avatars

Kim et al. PACM HCI (CSCW) 2026

"When We're Looking at the Robot, We See Each Other": A Comparison of Robotic, Mirror-Based, and Hybrid Interventions for Stranger Interaction

Guo et al. CHI 2026

What Is a Robot? Understanding Baseball's "Robot Umpire" through the Lens of Fluid Technology Honorable Mention (User Studies Track)

Kamino et al. HRI 2026

Robot-Mediated Mutual Gaze: How a Mobile Robot with Actuated Mirrors Facilitates Encounters between Strangers Best Paper (Design Track)

Guo et al. HRI 2026

Simulating Multiple Road User Perspectives on Autonomous Vehicle Behaviors

Jeong et al. AutoUI 2025

Interactive Social Agent Behaviors of Politeness and Compromise in Collaborative Decision-making

Jeong & Hoffman. IVA 2025

Facilitating Synchronized Movement During Ice-Breaking Scenarios Through a Real-World Reinforcement Learning Agent Using Non-Verbal Behaviors

Guo et al. HRI 2025

Analysis and Perspectives on the ANA Avatar XPRIZE Competition

Hauser et al. IJSR 2025

Choosing Materials for Personal Robot Design

Hoffman. Designing Interactions with Robots, 2024

Performing Human Shadow Detection for Camera-Based Privacy-Preserving Human-Robot Interactions

Hu et al. RO-MAN 2024

Face2Gesture: Translating Facial Expressions into Robot Movements through Shared Latent Space Neural Networks

Suguitan et al. THRI 2024

Inferring Human Intent and Predicting Human Action in Human–Robot Collaboration

Hoffman et al. Annual Review of CRAS 2024

Designing Plant-Driven Actuators for Robots to Grow, Age, and Decay

Hu et al. DIS 2024

Rethinking Bodily Expression in Human-Robot Communication: Insights from Sculpture

Dunstan & Hoffman. IDA 2024

Conveying Emotions through Shape-changing to Children with and without Visual Impairment

Neto et al. CHI 2024

Build Your Own Robot Friend: An Open-Source Learning Module for Accessible and Engaging AI Education

Shi et al. AAAI 2024 (EAAI)

"I'm Not Touching You. It's The Robot!": Inclusion Through A Touch-Based Robot Among Mixed-Visual Ability Children Best Paper Honorable Mention

Neto et al. HRI 2024

Affinity Diagramming with a Robot

Law et al. THRI 2024

Additive vs. Subtractive Earning in Shared Human-Robot Work Environments

Dreyfuss et al. JEBO 2024

Dataset of Bimanual Human-to-Human Object Handovers

Kshirsagar et al. Data in Brief 2023

Nudging or Waiting? Automatically Synthesized Robot Strategies for Evacuating Noncompliant Users in an Emergency Situation

Hu et al. HRI 2023

Social Robot Morphology: Cultural Histories of Robot Design

Dunstan & Hoffman. Cultural Robotics, 2023

Lessons Learned from Utilizing Guided Policy Search for Human-Robot Handovers with a Collaborative Robot

Kshirsagar et al. RAAI 2022

Touchibo: Multimodal Texture-Changing Robotic Platform for Shared Human Experiences

Hu et al. UIST 2022 Adjunct

Timing-Specified Controllers with Feedback for Human-Robot Handovers

Kshirsagar et al. RO-MAN 2022

Human–robot interaction challenges in the workplace

Hoffman et al. APA 2022

What Can a Robot’s Skin Be? Designing Texture-Changing Skin for Human-Robot Social Interaction

Hu & Hoffman THRI 2023

What Is It Like to Be a Bot? Variable Perspective Embodied Telepresence for Crowdsourcing Robot Movements

Suguitan & Hoffman PUC 2023

Empowering Robots for Object Handovers

Kshirsagar & Hoffman. HRI 2022 (Pioneers)

Creativity Landscapes: Systematic Review Spanning 70 Years of Creativity Interventions for Children

Alves-Oliveira et al. JCB 2022

Human Preferences for Robot Eye Gaze in Human-to-Robot Handovers

Kshirsagar et al. IJSR 2022

Formalizing and Guaranteeing Human-Robot Interaction

Kress-Gazit et al. CACM 2021

The Wearable Robotic Forearm: Design and Predictive Control of a Collaborative Supernumerary Robot

Vatsal & Hoffman. Robotics 2021

Hammers for Robots: Designing Tools for Reinforcement Learning Agents

Law et al., DIS 2021

What Robots Need From Clothing Honorable Mention

Friedman et al., DIS 2021

Biomechanical Motion Planning for a Wearable Robotic Forearm

Vatsal & Hoffman RAL 2021

Evaluating Guided Policy Search for Human-Robot Handovers

Kshirsagar et al. RAL 2021

Children as Robot Designers Best Paper

Alves-Oliveira et al. HRI 2021

Lessons From Joint Improvisation Workshops for Musicians and Robotics Engineers

Carter and Hoffman Frontiers 2021

The Social Uncanniness of Robotic Companions

Hoffman RoboPhil 2020

ShadowSense: Detecting Human Touch in a Social Robot Using Shadow Image Classification

Hu et al. IMWUT 2020

Analytical Inverse Kinematics for a 5-DoF Robotic Arm with a Prismatic Joint

Vatsal & Hoffman Tech. Rep. 2020

Face-work for Human-Agent Joint Decision-Making

Jeong & Hoffman AAAI FSS 2020

Design Intention Inference for Virtual Co-Design Agents

Law et al. IVA 2020

A Primer for Conducting Experiments in Human–Robot Interaction

Hoffman & Zhao THRI 2020

Robot Gaze Behaviors in Human-to-Robot Handovers

Kshirsagar et al. RAL 2020

Robotic Musicianship: Embodied Artificial Creativity and Mechatronic Musical Expression

Weinberg et al. Springer 2020

MoveAE: Modifying Affective Robot Movements Using Classifying Variational Autoencoders

Suguitan, Gomez, & Hoffman. HRI 2020

Human-human-robot interaction: robotic object’s responsive gestures improve interpersonal evaluation in human interaction

Rifinski et al. HCI 2020

Specifying and Synthesizing Human-Robot Handovers

Kshirsagar et al. IROS 2019

End-Effector Stabilization of a Wearable Robotic Arm Using Time Series Modeling of Human Disturbances

Vatsal & Hoffman. DSCC 2019

Home Robotic Devices for Older Adults: Opportunities and Concerns

Deutsch et al. CiHB 2019

Guide to build YOLO, a creativity-stimulating robot for children

Alves-Oliveira et al. HardwareX 2019

Social robots for creativity stimulation in children

Alves-Oliveira et al. RSS Pioneers 2019

Negotiating the Creative Space in Human-Robot Collaborative Design Honorable Mention

Law et al. DIS 2019

SMT-Based Control and Feedback for Social Navigation

Campos et al. ICRA 2019

Active Attention-Modified Policy Shaping

Kessler Faulkner et al. AAMAS 2019

Evaluating Fluency in Human-Robot Collaboration Best Transactions Paper Award

Hoffman. THMS 2019

Blossom: A Handcrafted Open-Source Robot

Suguitan & Hoffman. THRI 2019

Using Skin Texture Change To Design Emotion Expression In Social Robots Best Paper

Hu & Hoffman. HRI 2019

Monetary-Incentive Competition between Humans and Robots: Experimental Results

Kshirsagar, Dreyfuss, Ishai, Heffetz & Hoffman. HRI 2019

Affective Robot Movement Generation Using CycleGANs 3rd Place (LBR)

Suguitan, Bretan, & Hoffman. HRI 2018 LBR

Blossom: A Tensile Social Robot Design with a Handcrafted Shell

Suguitan & Hoffman. HRI 2018 LBR

Side-by-side Human-Computer Design using a Tangible User Interface Best Paper

Law et al. DCC 2018

Exploring the Feature Space to Aid Learning in Design Space Exploration

Bang et al. DCC 2018

Cognitive Style and Field Knowledge in Complex Design Problem-Solving: A Comparative Case Study of Decision Support Systems

Shi et al. DCC 2018

The Greeting Machine: An Abstract Robotic Object for Opening Encounters Best Paper

Anderson Bashan et al. RO-MAN 2018

Design and Analysis of a Wearable Robotic Forearm

Vatsal & Hoffman. ICRA 2018

Soft Skin Texture Modulation for Social Robotics

Hu, Zhao, Vimal & Hoffman. RoboSoft 2018

Wearing your arm on your sleeve: Studying usage contexts for a wearable robotic forearm

Vatsal & Hoffman. RO-MAN 2017

Representation of Movement for Robots with Personality: A Co-Design study with Small Groups of Children

Alves-Oliveira et al. RO-MAN 2017 Workshop

YOLO, a Robot for Creativity: A Co-Design Study with Children

Alves-Oliveira et al. IDC 2017

Toward integrating Theory of Mind into adaptive decision-making of social robots to understand human intention

Gorur et al. HRI 2017 Workshop

Comparing Social Robot, Screen and Voice Interfaces for Smart-Home Control

Luria et al. CHI 2017

Animating Mechanisms: A Pipeline for Authoring Robot Gestures

Megidish et al. HRI 2017 LBR

Computational Human-Robot Interaction

Thomaz, Hoffman, & Cakmak. FnT-Robotics 2016

What Robots Can Teach Us About Intimacy: The Reassuring Effects of Robot Responsiveness to Human Disclosure

Birnbaum et al. CiHB 2019

Let's be honest: A controlled field study of ethical behavior in the presence of a robot

Forlizzi et al. RO-MAN 2016

Designing Vyo, a robotic Smart Home assistant: Bridging the gap between device and social agent

Luria et al. RO-MAN 2016

OpenWoZ: A Runtime-Configurable Wizard-of-Oz Framework for Human-Robot Interaction

Hoffman AAAI-SS-16

Machines as a Source of Consolation: Robot Responsiveness Increases Human Approach Behavior and Desire for Companionship

Birnbaum et al. HRI 2016

Studying the opposing effects of robot presence on human corruption

Roizman et al. HRI 2016 LBR

Boosting children's creativity through creative interactions with social robots

Alves-Oliveira. HRI 2016 LBR

KIP3: robotic companion as an external cue to students with ADHD

Zuckerman et al. TEI 2016 WiP

Robotic experience companionship in music listening and video watching

Hoffman et al. PUC 2016

Selected Papers Before HRC2
Emotionally expressive dynamic physical behaviors in robots

Bretan et al. IJHCS 2015

Design and Evaluation of a Peripheral Robotic Conversation Companion Best Paper

Hoffman et al. HRI 2015a

Robot Presence and Human Honesty: Experimental Evidence

Hoffman et al. HRI 2015b

Mirror Puppeteering: Animating Toy Robots in Front of a Webcam

Slyper et al. TEI 2015

Designing Robots with Movement in Mind

Hoffman & Ju JHRI 2014

Dumb robots, smart phones: A case study of music listening companionship Best Paper Nomination

Hoffman RO-MAN 2012

On stage: robots as performers

Hoffman RSS Workshop 2011

Interactive Improvisation with a Robotic Marimba Player

Hoffman & Weinberg. AuRo 2011

Gesture-based human-robot Jazz improvisation Best Paper

Hoffman & Weinberg ICRA 2010

Effects of Anticipatory Perceptual Simulation on Practiced Human-robot Tasks

Hoffman & Breazeal. AuRo 2011

A Hybrid Control System for Puppeteering a Live Robotic Stage Actor Best Paper

Hoffman et al. RO-MAN 2008

Anticipatory Perceptual Simulation for Human-Robot Joint Practice: Theory and Application Study

Hoffman et al. AAAI 2008

Cost-Based Anticipatory Action Selection for Human-Robot Fluency

Hoffman & Breazeal. T-RO 2007

Collaboration in Human-Robot Teams Best Session Paper

Hoffman & Breazeal AIAA 2004

For more papers by Prof. Hoffman prior to HRC2, please see this list