David Porfirio
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View article: Bootstrapping Human-Like Planning via LLMs
Bootstrapping Human-Like Planning via LLMs Open
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 natural language programming. Although natural language interfa…
View article: VeriPlan: Integrating Formal Verification and LLMs into End-User Planning
VeriPlan: Integrating Formal Verification and LLMs into End-User Planning Open
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 have made planning more accessible to everyday users due to …
View article: Uncertainty Expression for Human-Robot Task Communication
Uncertainty Expression for Human-Robot Task Communication Open
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 the locations of task-critical objects. This assumption is …
View article: Designing Human-Robot Interactions: A StEER Tutorial
Designing Human-Robot Interactions: A StEER Tutorial Open
In this three-hour tutorial you will learn how to design better-more reflexive-human-robot interactions. You will be introduced to the StEER design method, which aims to facilitate better grounding in embodied, interactional, and reflexive…
View article: Understanding On-the-Fly End-User Robot Programming
Understanding On-the-Fly End-User Robot Programming Open
Novel end-user programming (EUP) tools enable on-the-fly (i.e., spontaneous,\neasy, and rapid) creation of interactions with robotic systems. These tools are\nexpected to empower users in determining system behavior, although very little\n…
View article: End-User Development for Human-Robot Interaction
End-User Development for Human-Robot Interaction Open
End-user development (EUD) represents a key step towards making robotics\naccessible for experts and nonexperts alike. Within academia, researchers\ninvestigate novel ways that EUD tools can capture, represent, visualize,\nanalyze, and tes…
View article: Goal-Oriented End-User Programming of Robots
Goal-Oriented End-User Programming of Robots Open
End-user programming (EUP) tools must balance user control with the robot's\nability to plan and act autonomously. Many existing task-oriented EUP tools\nenforce a specific level of control, e.g., by requiring that users hand-craft\ndetail…
View article: Considerations for End-User Development in the Caregiving Domain
Considerations for End-User Development in the Caregiving Domain Open
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 to do the task. Accordingly, there has been a rise in atte…
View article: Petri Nets for the Iterative Development of Interactive Robotic Systems
Petri Nets for the Iterative Development of Interactive Robotic Systems Open
We argue for the use of Petri nets as a modeling language for the iterative development process of interactive robotic systems. Petri nets, particularly Timed Colored Petri nets (TCPNs), have the potential to unify various phases of the de…
View article: Considerations for End-User Development in the Caregiving Domain
Considerations for End-User Development in the Caregiving Domain Open
As service robots become more capable of autonomous behaviors, it becomes increasingly important to consider how people will be able to communicate with a robot about what task it should perform and how to do the task. There has been a ris…
View article: Sketching Robot Programs On the Fly
Sketching Robot Programs On the Fly Open
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 preserve ease, efficiency, and convenience through simple pr…
View article: Crowdsourcing Task Traces for Service Robotics
Crowdsourcing Task Traces for Service Robotics Open
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 teaching tool, but also as a way to understand and assist end-user…
View article: PD/EUP Workshop Proceedings
PD/EUP Workshop Proceedings Open
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 developing robotic applications, since developers must understand t…
View article: Bodystorming Human-Robot Interactions
Bodystorming Human-Robot Interactions Open
Designing and implementing human-robot interactions requires numerous skills, from having a rich understanding of social interactions and the capacity to articulate their subtle requirements, to the ability to then program a social robot w…
View article: Authoring and Verifying Human-Robot Interactions
Authoring and Verifying Human-Robot Interactions Open
As social agents, robots designed for human interaction must adhere to human social norms. How can we enable designers, engineers, and roboticists to design robot behaviors that adhere to human social norms and do not result in interaction…
View article: Drift Barriers to Quality Control When Genes Are Expressed at Different Levels
Drift Barriers to Quality Control When Genes Are Expressed at Different Levels Open
Gene expression is imperfect, sometimes leading to toxic products. Solutions take two forms: globally reducing error rates, or ensuring that the consequences of erroneous expression are relatively harmless. The latter is optimal, but becau…