Daniel Szafir

93 papers A* 25A 15B 2Misc 2Journal 35Unranked 13
YearRankTypeTitle / Venue / Authors
2026 — conf
Design of a Robot-Assisted Chemical Dialysis System.
HRI Companion
Diane N. Jung, Caleb Escobedo, Noah Liska, Maitrey Gramopadhye, Daniel Szafir, Alessandro Roncone, Carson J. Bruns
2026 J jnl
Design of a Robot-Assisted Chemical Dialysis System.
CoRR
Diane N. Jung, Caleb Escobedo, Noah Liska, Maitrey Gramopadhye, Daniel Szafir, Alessandro Roncone, Carson J. Bruns
2026 J jnl
LiLo-VLA: Compositional Long-Horizon Manipulation via Linked Object-Centric Policies.
CoRR
Yue Yang, Shuo Cheng, Yu Fang, Homanga Bharadhwaj, Mingyu Ding, Gedas Bertasius, Daniel Szafir
2026 J jnl
When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs.
CoRR
Yu Fang, Yuchun Feng, Dong Jing, Jiaqi Liu, Yue Yang, Zhenyu Wei, Daniel Szafir, Mingyu Ding
2025 J jnl
BOSS: Benchmark for Observation Space Shift in Long-Horizon Task.
CoRR
Yue Yang, Linfeng Zhao, Mingyu Ding, Gedas Bertasius, Daniel Szafir
2025 J jnl
BOSS: Benchmark for Observation Space Shift in Long-Horizon Task.
IEEE Robotics Autom. Lett.
Yue Yang, Linfeng Zhao, Mingyu Ding, Gedas Bertasius, Daniel Szafir
2025 A* conf
Investigating Encoding and Perspective for Augmented Reality Motion Guidance.
ISMAR
Jade Kandel, Sriya Kasumarthi, Spiros Tsalikis, Chelsea Duppen, Daniel Szafir, Michael Lewek, Henry Fuchs, Danielle Szafir
2025 J jnl
Investigating Encoding and Perspective for Augmented Reality.
CoRR
Jade Kandel, Sriya Kasumarthi, Spiros Tsalikis, Chelsea Duppen, Daniel Szafir, Michael Lewek, Henry Fuchs, Danielle Szafir
2025 A* conf
MARCER: Multimodal Augmented Reality for Composing and Executing Robot Tasks.
HRI
Bryce Ikeda, Maitrey Gramopadhye, LillyAnn Nekervis, Daniel Szafir
2025 J jnl
Practice Makes Perfect: A Study of Digital Twin Technology for Assembly and Problem-solving using Lunar Surface Telerobotics.
CoRR
Xavier O'Keefe, Katy McCutchan, Alexis A. Muniz, Jack Burns, Daniel Szafir
2025 A conf
ReBot: Scaling Robot Learning with Real-to-Sim-to-Real Robotic Video Synthesis.
IROS
Yu Fang, Yue Yang, Xinghao Zhu, Kaiyuan Zheng, Gedas Bertasius, Daniel Szafir, Mingyu Ding
2025 J jnl
ReBot: Scaling Robot Learning with Real-to-Sim-to-Real Robotic Video Synthesis.
CoRR
Yu Fang, Yue Yang, Xinghao Zhu, Kaiyuan Zheng, Gedas Bertasius, Daniel Szafir, Mingyu Ding
2025 J jnl
Robotic VLA Benefits from Joint Learning with Motion Image Diffusion.
CoRR
Yu Fang, Kanchana Ranasinghe, Le Xue, Honglu Zhou, Juntao Tan, Ran Xu, Shelby Heinecke, Caiming Xiong, Silvio Savarese, Daniel Szafir, Mingyu Ding, Michael S. Ryoo, Juan Carlos Niebles
2025 A* conf
Supporting Long-Horizon Tasks in Human-Robot Collaboration by Aligning Intentions via Augmented Reality.
HRI
Chenyang Ma, Yue Yang, Bryce Ikeda, Daniel Szafir
2024 J jnl
A Survey of Algorithmic Methods for Competency Self-Assessments in Human-Autonomy Teaming.
ACM Comput. Surv.
Nicholas Conlon, Nisar R. Ahmed, Daniel Szafir
2024 A conf
ARCADE: Scalable Demonstration Collection and Generation via Augmented Reality for Imitation Learning.
IROS
Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir
2024 J jnl
ARCADE: Scalable Demonstration Collection and Generation via Augmented Reality for Imitation Learning.
CoRR
Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir
2024 — conf
An Accelerated Clip Algorithm for Unstructured Meshes: A Batch-Driven Approach.
EGPGV@EuroVis
Spiros Tsalikis, William J. Schroeder, Daniel Szafir, Kenneth Moreland
2024 J jnl
Assistance in Teleoperation of Redundant Robots through Predictive Joint Maneuvering.
ACM Trans. Hum. Robot Interact.
Connor Brooks, Wyatt Rees, Daniel Szafir
2024 J jnl
Augmented Reality Demonstrations for Scalable Robot Imitation Learning.
CoRR
Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir
2024 — conf
Designing an Introductory HRI Course.
HRI (Companion)
Henny Admoni, Wafa Johal, Daniel Szafir, Anara Sandygulova
2024 — conf
Incorporating Retakes in a Robotics Class with Labs.
SIGCSE (2)
Janine Hoelscher, Bryce Ikeda, Daniel Szafir, Ron Alterovitz
2024 A* conf
PD-Insighter: A Visual Analytics System to Monitor Daily Actions for Parkinson's Disease Treatment.
CHI
Jade Kandel, Chelsea Duppen, Qian Zhang, Howard Jiang, Angelos Angelopoulos, Ashley Paula-Ann Neall, Pranav Wagh, Daniel Szafir, Henry Fuchs, Michael Lewek, Danielle Albers Szafir
2024 J jnl
PD-Insighter: A Visual Analytics System to Monitor Daily Actions for Parkinson's Disease Treatment.
CoRR
Jade Kandel, Chelsea Duppen, Qian Zhang, Howard Jiang, Angelos Angelopoulos, Ashley Paula-Ann Neall, Pranav Wagh, Daniel Szafir, Henry Fuchs, Michael Lewek, Danielle Albers Szafir
2024 J jnl
PRogramAR: Augmented Reality End-User Robot Programming.
ACM Trans. Hum. Robot Interact.
Bryce Ikeda, Daniel Szafir
2024 J jnl
Paper index: Designing an introductory HRI course (workshop at HRI 2024).
CoRR
Henny Admoni, Daniel Szafir, Wafa Johal, Anara Sandygulova
2024 A* conf
The Cyber-Physical Control Room: A Mixed Reality Interface for Mobile Robot Teleoperation and Human-Robot Teaming.
HRI
Michael E. Walker, Maitrey Gramopadhye, Bryce Ikeda, Jack Burns, Daniel Szafir
2023 J jnl
Dynamic Competency Self-Assessment for Autonomous Agents.
CoRR
Nicholas Conlon, Nisar R. Ahmed, Daniel Szafir
2023 J jnl
Event-triggered robot self-assessment to aid in autonomy adjustment.
Frontiers Robotics AI
Nicholas Conlon, Nisar R. Ahmed, Daniel Szafir
2023 A conf
Generating Executable Action Plans with Environmentally-Aware Language Models.
IROS
Maitrey Gramopadhye, Daniel Szafir
2023 — conf
Guiding the Development of Undergraduate Educational Robotics.
CompEd (1)
Bryce Ikeda, Janine Hoelscher, Ron Alterovitz, Daniel Szafir
2023 B conf
Identifying the Focus of Attention in Human-Robot Conversational Groups.
HAI
Hooman Hedayati, Annika Muehlbradt, James Kennedy, Daniel Szafir
2023 — conf
Reconstruction of Human Body Pose and Appearance Using Body-Worn IMUs and a Nearby Camera View for Collaborative Egocentric Telepresence.
VR Workshops
Qian Zhang, Akshay Paruchuri, Young-Woon Cha, Jiabin Huang, Jade Kandel, Howard Jiang, Adrian Ilie, Andrei State, Danielle Albers Szafir, Daniel Szafir, Henry Fuchs
2023 J jnl
TOBY: A Tool for Exploring Data in Academic Survey Papers.
CoRR
Tathagata Chakraborti, Jungkoo Kang, Christian Muise, Sarath Sreedharan, Michael E. Walker, Daniel Szafir, Tom Williams
2023 J jnl
Virtual, Augmented, and Mixed Reality for Human-robot Interaction: A Survey and Virtual Design Element Taxonomy.
ACM Trans. Hum. Robot Interact.
Michael E. Walker, Thao Phung, Tathagata Chakraborti, Tom Williams, Daniel Szafir
2022 A conf
"I'mConfident This Will End Poorly": Robot Proficiency Self-Assessment in Human-Robot Teaming.
IROS
Nicholas Conlon, Daniel Szafir, Nisar R. Ahmed
2022 A* conf
Advancing the Design of Visual Debugging Tools for Roboticists.
HRI
Bryce Ikeda, Daniel Szafir
2022 J jnl
Designing Expandable-Structure Robots for Human-Robot Interaction.
Frontiers Robotics AI
Hooman Hedayati, Ryo Suzuki, Wyatt Rees, Daniel Leithinger, Daniel Szafir
2022 A* conf
Drone Brush: Mixed Reality Drone Path Planning.
HRI
Angelos Angelopoulos, Austin Hale, Husam Shaik, Akshay Paruchuri, Ken Liu, Randal Tuggle, Daniel Szafir
2022 J jnl
Generating Executable Action Plans with Environmentally-Aware Language Models.
CoRR
Maitrey Gramopadhye, Daniel Szafir
2022 J jnl
Investigating the Effects of Robot Proficiency Self-Assessment on Trust and Performance.
CoRR
Nicholas Conlon, Daniel Szafir, Nisar R. Ahmed
2022 A* conf
Predicting Positions of People in Human-Robot Conversational Groups.
HRI
Hooman Hedayati, Daniel Szafir
2022 A conf
The Predictive Kinematic Control Tree: Enhancing Teleoperation of Redundant Robots through Probabilistic User Models.
IROS
Connor Brooks, Daniel Szafir
2022 J jnl
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction: A Survey and Virtual Design Element Taxonomy.
CoRR
Michael E. Walker, Thao Phung, Tathagata Chakraborti, Tom Williams, Daniel Szafir
2021 A conf
A Mixed Reality Supervision and Telepresence Interface for Outdoor Field Robotics.
IROS
Michael E. Walker, Zhaozhong Chen, Matthew Whitlock, David Blair, Danielle Albers Szafir, Christoffer Heckman, Daniel Szafir
2021 A* ed.
ACM/IEEE International Conference on Human-Robot Interaction, HRI 2021, Boulder, CO, USA, March 8-11, 2021
HRI
Cindy L. Bethel, Ana Paiva, Elizabeth Broadbent, David Feil-Seifer, Daniel Szafir
2021 A* conf
ARC-LfD: Using Augmented Reality for Interactive Long-Term Robot Skill Maintenance via Constrained Learning from Demonstration.
ICRA
Matthew B. Luebbers, Connor Brooks, Carl L. Mueller, Daniel Szafir, Bradley Hayes
2021 — ed.
Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2021, Boulder, CO, USA, March 8-11, 2021.
HRI (Companion)
Cindy L. Bethel, Ana Paiva, Elizabeth Broadbent, David Feil-Seifer, Daniel Szafir
2021 A* conf
Connecting Human-Robot Interaction and Data Visualization.
HRI
Daniel Szafir, Danielle Albers Szafir
2021 A conf
What Information Should a Robot Convey?
IROS
Hooman Hedayati, Mark D. Gross, Daniel Szafir
2020 — conf
Comparing F-Formations Between Humans and On-Screen Agents.
CHI Extended Abstracts
Hooman Hedayati, Daniel Szafir, James Kennedy
2020 J jnl
Editorial: Special issue on space robotics.
J. Field Robotics
Daniel Szafir, Krzysztof Skonieczny, Mark Woods
2020 A conf
PufferBot: Actuated Expandable Structures for Aerial Robots.
IROS
Hooman Hedayati, Ryo Suzuki, Daniel Leithinger, Daniel Szafir
2020 J jnl
PufferBot: Actuated Expandable Structures for Aerial Robots.
CoRR
Hooman Hedayati, Ryo Suzuki, Daniel Leithinger, Daniel Szafir
2020 A* conf
RoomShift: Room-scale Dynamic Haptics for VR with Furniture-moving Swarm Robots.
CHI
Ryo Suzuki, Hooman Hedayati, Clement Zheng, James L. Bohn, Daniel Szafir, Ellen Yi-Luen Do, Mark D. Gross, Daniel Leithinger
2020 J jnl
RoomShift: Room-scale Dynamic Haptics for VR with Furniture-moving Swarm Robots.
CoRR
Ryo Suzuki, Hooman Hedayati, Clement Zheng, James L. Bohn, Daniel Szafir, Ellen Yi-Luen Do, Mark D. Gross, Daniel Leithinger
2020 — conf
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction (VAM-HRI).
HRI (Companion)
Tom Williams, Daniel Szafir, Tathagata Chakraborti, Soh-Khim Ong, Eric Rosen, Serena Booth, Thomas R. Groechel
2020 A conf
Visualization of Intended Assistance for Acceptance of Shared Control.
IROS
Connor Brooks, Daniel Szafir
2020 J jnl
Visualization of Intended Assistance for Acceptance of Shared Control.
CoRR
Connor Brooks, Daniel Szafir
2019 A* conf
Balanced Information Gathering and Goal-Oriented Actions in Shared Autonomy.
HRI
Connor Brooks, Daniel Szafir
2019 J jnl
Building Second-Order Mental Models for Human-Robot Interaction.
CoRR
Connor Brooks, Daniel Szafir
2019 J jnl
Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in Robotic Space Operations.
IEEE Robotics Autom. Lett.
Steve McGuire, P. Michael Furlong, Terry Fong, Christoffer Heckman, Daniel Szafir, Simon J. Julier, Nisar R. Ahmed
2019 Misc conf
HugBot: A soft robot designed to give human-like hugs.
IDC
Hooman Hedayati, Srinjita Bhaduri, Tamara Sumner, Daniel Szafir, Mark D. Gross
2019 — conf
Mediating Human-Robot Interactions with Virtual, Augmented, and Mixed Reality.
HCI (10)
Daniel Szafir
2019 A* conf
Recognizing F-Formations in the Open World.
HRI
Hooman Hedayati, Daniel Szafir, Sean Andrist
2019 A conf
RoboGraphics: Dynamic Tactile Graphics Powered by Mobile Robots.
ASSETS
Darren Guinness, Annika Muehlbradt, Daniel Szafir, Shaun K. Kane
2019 A conf
RoboGraphics: Using Mobile Robots to Create Dynamic Tactile Graphics.
ASSETS
Darren Guinness, Annika Muehlbradt, Daniel Szafir, Shaun K. Kane
2019 A* conf
Robot Teleoperation with Augmented Reality Virtual Surrogates.
HRI
Michael E. Walker, Hooman Hedayati, Daniel Szafir
2019 A* conf
The Influence of Size in Augmented Reality Telepresence Avatars.
VR
Michael E. Walker, Daniel Szafir, Irene Rae
2019 A* conf
The Reality-Virtuality Interaction Cube: A Framework for Conceptualizing Mixed-Reality Interaction Design Elements for HRI.
HRI
Tom Williams, Daniel Szafir, Tathagata Chakraborti
2019 A* conf
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction (VAM-HRI).
HRI
Tom Williams, Daniel Szafir, Tathagata Chakraborti, Elizabeth Phillips
2019 J jnl
Virtual-to-Real-World Transfer Learning for Robots on Wilderness Trails.
CoRR
Michael L. Iuzzolino, Michael E. Walker, Daniel Szafir
2018 A* conf
Communicating Robot Motion Intent with Augmented Reality.
HRI
Michael E. Walker, Hooman Hedayati, Jennifer Lee, Daniel Szafir
2018 J jnl
Extrinisic Calibration of a Camera-Arm System Through Rotation Identification.
CoRR
Steve McGuire, Christoffer Heckman, Daniel Szafir, Simon Julier, Nisar R. Ahmed
2018 J jnl
Failure is Not an Option: Policy Learning for Adaptive Recovery in Space Operations.
IEEE Robotics Autom. Lett.
Steve McGuire, P. Michael Furlong, Christoffer Heckman, Simon Julier, Daniel Szafir, Nisar R. Ahmed
2018 A* conf
Improving Collocated Robot Teleoperation with Augmented Reality.
HRI
Hooman Hedayati, Michael E. Walker, Daniel Szafir
2018 B conf
Improving Object Disambiguation from Natural Language using Empirical Models.
ICMI
Daniel Prendergast, Daniel Szafir
2018 A conf
Proactive Robot Assistants for Freeform Collaborative Tasks Through Multimodal Recognition of Generic Subtasks.
IROS
Connor Brooks, Madhur Atreya, Daniel Szafir
2018 J jnl
The 1st International Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interaction.
AI Mag.
Tom Williams, Daniel Szafir, Tathagata Chakraborti, Heni Ben Amor
2018 Misc conf
The Haptic Video Player: Using Mobile Robots to Create Tangible Video Annotations.
ISS
Darren Guinness, Annika Muehlbradt, Daniel Szafir, Shaun K. Kane
2018 — conf
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction.
HRI (Companion)
Tom Williams, Daniel Szafir, Tathagata Chakraborti, Heni Ben Amor
2018 A conf
Virtual-to-Real-World Transfer Learning for Robots on Wilderness Trails.
IROS
Michael L. Iuzzolino, Michael E. Walker, Daniel Szafir
2017 A* conf
Designing for Depth Perceptions in Augmented Reality.
ISMAR
Catherine Diaz, Michael E. Walker, Danielle Albers Szafir, Daniel Szafir
2017 J jnl
Designing planning and control interfaces to support user collaboration with flying robots.
Int. J. Robotics Res.
Daniel Szafir, Bilge Mutlu, Terrence Fong
2017 A conf
GUI Robots: Using Off-the-Shelf Robots as Tangible Input and Output Devices for Unmodified GUI Applications.
Conference on Designing Interactive Systems
Darren Guinness, Daniel Szafir, Shaun K. Kane
2015 A* conf
Communicating Directionality in Flying Robots.
HRI
Daniel Szafir, Bilge Mutlu, Terry Fong
2015 A conf
From 9 to 90: Engaging Learners of All Ages.
SIGCSE
Allison Sauppé, Daniel Szafir, Chien-Ming Huang, Bilge Mutlu
2014 A* conf
Communication of intent in assistive free flyers.
HRI
Daniel Szafir, Bilge Mutlu, Terrence Fong
2014 — conf
Human interaction with assistive free-flyers.
CHI Extended Abstracts
Daniel Szafir
2013 A* conf
ARTFul: adaptive review technology for flipped learning.
CHI
Daniel Szafir, Bilge Mutlu
2013 — conf
SculptUp: A rapid, immersive 3D modeling environment.
3DUI
Kevin Ponto, Ross Tredinnick, Aaron Bartholomew, Carrie Roy, Daniel Szafir, Daniel Greenheck, Joe Kohlmann
2012 A* conf
Pay attention!: designing adaptive agents that monitor and improve user engagement.
CHI
Daniel Szafir, Bilge Mutlu
2011 — conf
An Exploration of the Utilization of Electroencephalography and Neural Nets to Control Robots.
INTERACT (4)
Daniel Szafir, Robert Signorile