20 citations · 55 across the 15 of their papers we have counts for
16 papers
Attune: A Self-Annotation Tool for Understanding Robot Operator Attention Profiles
Puqi Zhou, Sungsoo Ray Hong, David Porfirio
Deploying robot fleets in complex, real-world environments requires human operators to supervise multiple robots simultaneously. Managing operator attention is a fundamental challe…
Designing for Robot Wranglers: A Synthesis of Literature and Practice
David Porfirio, Ian McDermott, Hsin-Mei Chen +3
Robots are increasingly present in human spaces, such as for conducting deliveries in hospitals, interacting with visitors at museums, and stocking items in warehouses. To ensure t…
Distill: Uncovering the True Intent behind Human-Robot Communication
Ting Li, David Porfirio
As robots become increasingly integrated into everyday environments, intuitive communication paradigms such as natural language and end-user programming have become indispensable f…
U-Define: Designing User Workflows for Hard and Soft Constraints in LLM-Based Planning
Christine P Lee, Xinyu Jessica Wang, Aws Albarghouthi +2
LLMs are increasingly used for end-user task planning, yet their black-box nature limits users' ability to ensure reliability and control. While recent systems incorporate verifica…
Applying Ground Robot Fleets in Urban Search: Understanding Professionals' Operational Challenges and Design Opportunities
Puqi Zhou, Charles R. Twardy, Cynthia Lum +6
Urban searches demand rapid, defensible decisions and sustained physical effort under high cognitive and situational load. Incident commanders must plan, coordinate, and document t…
POrTAL: Plan-Orchestrated Tree Assembly for Lookahead
Evan Conway, David Porfirio, David Chan +2
When tasking robots in partially observable environments, these robots must efficiently and robustly plan to achieve task goals under uncertainty. Although many probabilistic plann…
Bootstrapping Human-Like Planning via LLMs
David Porfirio, Vincent Hsiao, Morgan Fine-Morris +2
Robot end users increasingly require accessible means of specifying tasks for robots to perform. Two common end-user programming paradigms include drag-and-drop interfaces and natu…
Uncertainty Expression for Human-Robot Task Communication
David Porfirio, Mark Roberts, Laura M. Hiatt
An underlying assumption of many existing approaches to human-robot task communication is that the robot possesses a sufficient amount of environmental domain knowledge, including…
VeriPlan: Integrating Formal Verification and LLMs into End-User Planning
Christine Lee, David Porfirio, Xinyu Jessica Wang +2
Automated planning is traditionally the domain of experts, utilized in fields like manufacturing and healthcare with the aid of expert planning tools. Recent advancements in LLMs h…
Understanding On-the-Fly End-User Robot Programming
Laura Stegner, Yuna Hwang, David Porfirio +1
Novel end-user programming (EUP) tools enable on-the-fly (i.e., spontaneous, easy, and rapid) creation of interactions with robotic systems. These tools are expected to empower use…
Crowdsourcing Task Traces for Service Robotics
David Porfirio, Allison Sauppé, Maya Cakmak +2
Demonstration is an effective end-user development paradigm for teaching robots how to perform new tasks. In this paper, we posit that demonstration is useful not only as a teachin…
Goal-Oriented End-User Programming of Robots
David Porfirio, Mark Roberts, Laura M. Hiatt
End-user programming (EUP) tools must balance user control with the robot's ability to plan and act autonomously. Many existing task-oriented EUP tools enforce a specific level of…
End-User Development for Human-Robot Interaction
Laura Stegner, David Porfirio, Laura M. Hiatt +3
End-user development (EUD) represents a key step towards making robotics accessible for experts and nonexperts alike. Within academia, researchers investigate novel ways that EUD t…
Considerations for End-User Development in the Caregiving Domain
Laura Stegner, David Porfirio, Mark Roberts +1
As service robots become more capable of autonomous behaviors, it becomes increasingly important to consider how people communicate with a robot what task it should perform and how…
Sketching Robot Programs On the Fly
David Porfirio, Laura Stegner, Maya Cakmak +3
Service robots for personal use in the home and the workplace require end-user development solutions for swiftly scripting robot tasks as the need arises. Many existing solutions p…
PD/EUP Workshop Proceedings
Emmanuel Senft, David Porfirio, Katie Winkle
People who need robots are often not the same as people who can program them. This key observation in human-robot interaction (HRI) has lead to a number of challenges when developi…