When and How to Use AI in the Design Process? Implications for Human-AI Design Collaboration - Seo-young Lee; Matthew V. Law; Guy Hoffman (Int. J. Hum. Comput. Interact., 2025)

Analysis and Perspectives on the ANA Avatar XPRIZE Competition - Kris Hauser; Eleanor 'Nell' Watson; Joonbum Bae; Josh Bankston; Sven Behnke; Bill Borgia; Manuel G. Catalano; Stefano Dafarra; Jan B. F. van Erp; Thomas Ferris; Jeremy Fishel; Guy Hoffman; et al. (Int. J. Soc. Robotics, 2025)

MirrorBot: Exploring Socio-Spatial Interactions that Foster Serendipitous Human Connections Through Robotic Mirrors - Ge (Serena) Guo; Qi Yang; Yunting Yan; Xiaoman Yang; Guy Hoffman; Gilly Leshed; Keith Evan Green (Proceedings of the Extended Abstracts of the CHI Conference on Human Factors in Computing Systems, CHI EA 2025, Yokohama, Japan, 26 April 2025- 1 May 2025, 2025)

Facilitating Synchronized Movement During Ice-Breaking Scenarios Through a Real-World Reinforcement Learning Agent Using Non-Verbal Behaviors - Ge (Serena) Guo; Qi Yang; Rejoice Hu; Guy Hoffman (20th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2025, Melbourne, Australia, March 4-6, 2025, 2025)

Inferring Human Intent and Predicting Human Action in Human-Robot Collaboration - Guy Hoffman; Tapomayukh Bhattacharjee; Stefanos Nikolaidis (Annu. Rev. Control. Robotics Auton. Syst., 2024)

Affinity Diagramming with a Robot - Matthew V. Law; Nnamdi Nwagwu; Amritansh Kwatra; Seo-Young Lee; Daniel M. Diangelis; Naifang Yu; Gonzalo Gonzalez-Pumariega; Amit Rajesh; Guy Hoffman (ACM Trans. Hum. Robot Interact., 2024)

Face2Gesture: Translating Facial Expressions into Robot Movements through Shared Latent Space Neural Networks - Michael Suguitan; Nick DePalma; Guy Hoffman; Jessica K. Hodgins (ACM Trans. Hum. Robot Interact., 2024)

Designing Plant-Driven Actuators for Robots to Grow, Age, and Decay - Yuhan Hu; Jasmine Lu; Nathan Scinto-Madonich; Miguel Alfonso Pineros; Pedro Lopes; Guy Hoffman (Designing Interactive Systems Conference, DIS 2024, IT University of Copenhagen, Denmark, July 1-5, 2024, 2024)

Build Your Own Robot Friend: An Open-Source Learning Module for Accessible and Engaging AI Education - Zhonghao Shi; Amy O'Connell; Zongjian Li; Siqi Liu; Jennifer Ayissi; Guy Hoffman; Mohammad Soleymani; Maja J. Mataric (Thirty-Eighth AAAI Conference on Artificial Intelligence, AAAI 2024, Thirty-Sixth Conference on Innovative Applications of Artificial Intelligence, IAAI 2024, Fourteenth Symposium on Educational Advances in Artificial Intelligence, EAAI 2014, February 20-27, 2024, Vancouver, Canada, 2024)

Conveying Emotions through Shape-changing to Children with and without Visual Impairment - Isabel Neto; Yuhan Hu; Filipa Correia; Filipa Rocha; Guy Hoffman; Hugo Nicolau; Ana Paiva (Proceedings of the CHI Conference on Human Factors in Computing Systems, CHI 2024, Honolulu, HI, USA, May 11-16, 2024, 2024)

"I'm Not Touching You. It's The Robot!": Inclusion Through A Touch-Based Robot Among Mixed-Visual Ability Children - Isabel Neto; Yuhan Hu; Filipa Correia; Filipa Rocha; João Nogueira; Katharina Buckmayer; Guy Hoffman; Hugo Nicolau; Ana Paiva (Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2024, Boulder, CO, USA, March 11-15, 2024, 2024)

Performing Human Shadow Detection for Camera-Based Privacy-Preserving Human-Robot Interactions - Yuhan Hu; Prishita Ray; Guy Hoffman (33rd IEEE International Conference on Robot and Human Interactive Communication, ROMAN 2024, Pasadena, CA, USA, August 26-30, 2024, 2024)

Analysis and Perspectives on the ANA Avatar XPRIZE Competition - Kris Hauser; Eleanor 'Nell' Watson; Joonbum Bae; Josh Bankston; Sven Behnke; Bill Borgia; Manuel G. Catalano; Stefano Dafarra; Jan B. F. van Erp; Thomas Ferris; Jeremy Fishel; Guy Hoffman; et al. (CoRR, 2024)

Build Your Own Robot Friend: An Open-Source Learning Module for Accessible and Engaging AI Education - Zhonghao Shi; Allison O'Connell; Zongjian Li; Siqi Liu; Jennifer Ayissi; Guy Hoffman; Mohammad Soleymani; Maja J. Mataric (CoRR, 2024)

What is it like to be a bot? Variable perspective embodied telepresence for crowdsourcing robot movements - Michael Suguitan; Guy Hoffman (Pers. Ubiquitous Comput., 2023)

Introduction to the Special Issue on "Designing the Robot Body: Critical Perspectives on Affective Embodied Interaction" - Mark Paterson; Guy Hoffman; Caroline Yan Zheng (ACM Trans. Hum. Robot Interact., 2023)

What Can a Robot's Skin Be? Designing Texture-changing Skin for Human-Robot Social Interaction - Yuhan Hu; Guy Hoffman (ACM Trans. Hum. Robot Interact., 2023)

Nudging or Waiting?: Automatically Synthesized Robot Strategies for Evacuating Noncompliant Users in an Emergency Situation - Yuhan Hu; Jin Ryu; David Gundana; Kirstin H. Petersen; Hadas Kress-Gazit; Guy Hoffman (Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2023, Stockholm, Sweden, March 13-16, 2023, 2023)

Human Preferences for Robot Eye Gaze in Human-to-Robot Handovers - Tair Faibish; Alap Kshirsagar; Guy Hoffman; Yael Edan (Int. J. Soc. Robotics, 2022)

Empowering Robots for Object Handovers - Alap Kshirsagar; Guy Hoffman (ACM/IEEE International Conference on Human-Robot Interaction, HRI 2022, Sapporo, Hokkaido, Japan, March 7 - 10, 2022, 2022)

Timing-Specified Controllers with Feedback for Human-Robot Handovers - Alap Kshirsagar; Rahul Kumar Ravi; Hadas Kress-Gazit; Guy Hoffman (31st IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2022, Napoli, Italy, August 29 - Sept. 2, 2022, 2022)

Touchibo: Multimodal Texture-Changing Robotic Platform for Shared Human Experiences - Yuhan Hu; Isabel Neto; Jin Ryu; Ali Shtarbanov; Hugo Nicolau; Ana Paiva; Guy Hoffman (The Adjunct Publication of the 35th Annual ACM Symposium on User Interface Software and Technology, UIST 2022, Bend, OR, USA, 29 October 2022- 2 November 2022, 2022)

Formalizing and guaranteeing human-robot interaction - Hadas Kress-Gazit; Kerstin Eder; Guy Hoffman; Henny Admoni; Brenna Argall; Rüdiger Ehlers; Christoffer Heckman; Nils Jansen; Ross A. Knepper; Jan Kretínský; Shelly Levy-Tzedek; Jamy Li; et al. (Commun. ACM, 2021)

Human-human-robot interaction: robotic object's responsive gestures improve interpersonal evaluation in human interaction - Danielle Rifinski; Hadas Erel; Adi Feiner; Guy Hoffman; Oren Zuckerman (Hum. Comput. Interact., 2021)

Evaluating Guided Policy Search for Human-Robot Handovers - Alap Kshirsagar; Guy Hoffman; Armin Biess (IEEE Robotics Autom. Lett., 2021)

Biomechanical Motion Planning for a Wearable Robotic Forearm - Vighnesh Vatsal; Guy Hoffman (IEEE Robotics Autom. Lett., 2021)

The Wearable Robotic Forearm: Design and Predictive Control of a Collaborative Supernumerary Robot - Vighnesh Vatsal; Guy Hoffman (Robotics, 2021)

A Primer for Conducting Experiments in Human-Robot Interaction - Guy Hoffman; Xuan Zhao (ACM Trans. Hum. Robot Interact., 2021)

What Robots Need From Clothing - Natalie Friedman; Kari Love; Ray LC; Jenny E. Sabin; Guy Hoffman; Wendy Ju (DIS '21: Designing Interactive Systems Conference 2021, Virtual Event, USA, 28 June, July 2, 2021, 2021)

Hammers for Robots: Designing Tools for Reinforcement Learning Agents - Matthew V. Law; Zhilong Li; Amit Rajesh; Nikhil Dhawan; Amritansh Kwatra; Guy Hoffman (DIS '21: Designing Interactive Systems Conference 2021, Virtual Event, USA, 28 June, July 2, 2021, 2021)

You Are (Not) The Robot: Variable Perspective Motion Control of a Social Telepresence Robot - Michael Suguitan; Guy Hoffman (CHI '21: CHI Conference on Human Factors in Computing Systems, Virtual Event / Yokohama Japan, May 8-13, 2021, Extended Abstracts, 2021)

Children as Robot Designers - Patrícia Alves-Oliveira; Patrícia Arriaga; Ana Paiva; Guy Hoffman (ACM/IEEE International Conference on Human-Robot Interaction, HRI 2021, Boulder, CO, USA, March 8-11, 2021, 2021)

Lessons From Joint Improvisation Workshops for Musicians and Robotics Engineers - Anthonia Carter; Marianthi Papalexandri-Alexandri; Guy Hoffman (Frontiers Robotics AI, 2020)

ShadowSense: Detecting Human Touch in a Social Robot Using Shadow Image Classification - Yuhan Hu; Sara Maria Bejarano; Guy Hoffman (Proc. ACM Interact. Mob. Wearable Ubiquitous Technol., 2020)

Robot Gaze Behaviors in Human-to-Robot Handovers - Alap Kshirsagar; Melanie Lim; Shemar Christian; Guy Hoffman (IEEE Robotics Autom. Lett., 2020)

Software architecture for YOLO, a creativity-stimulating robot - Patrícia Alves-Oliveira; Samuel Gomes; Ankita Chandak; Patrícia Arriaga; Guy Hoffman; Ana Paiva (SoftwareX, 2020)

Demonstrating MoveAE: Modifying Affective Robot Movements Using Classifying Variational Autoencoders - Michael Suguitan; Randy Gomez; Guy Hoffman (Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2020, Cambridge, UK, March 23-26, 2020, 2020)

MoveAE: Modifying Affective Robot Movements Using Classifying Variational Autoencoders - Michael Suguitan; Randy Gomez; Guy Hoffman (HRI '20: ACM/IEEE International Conference on Human-Robot Interaction, Cambridge, United Kingdom, March 23-26, 2020, 2020)

YOLO - Your Own Living Object - Patrícia Alves-Oliveira; Patrícia Arriaga; Ana Paiva; Guy Hoffman (Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2020, Cambridge, UK, March 23-26, 2020, 2020)

Design Intention Inference for Virtual Co-Design Agents - Matthew V. Law; Amritansh Kwatra; Nikhil Dhawan; Matthew Einhorn; Amit Rajesh; Guy Hoffman (IVA '20: ACM International Conference on Intelligent Virtual Agents, Virtual Event, Scotland, UK, October 20-22, 2020, 2020)

The Social Uncanniness of Robotic Companions - Guy Hoffman (Culturally Sustainable Social Robotics - Proceedings of Robophilosophy 2020, Virtual Event, 2020, 2020)

Formalizing and Guaranteeing* Human-Robot Interaction - Hadas Kress-Gazit; Kerstin Eder; Guy Hoffman; Henny Admoni; Brenna Argall; Rüdiger Ehlers; Christoffer Heckman; Nils Jansen; Ross A. Knepper; Jan Kretínský; Shelly Levy-Tzedek; Jamy Li; et al. (CoRR, 2020)

Face-work for Human-Agent Joint Decision-Making - Jihyun Jeong; Guy Hoffman (CoRR, 2020)

Analytical Inverse Kinematics for a 5-DoF Robotic Arm with a Prismatic Joint - Vighnesh Vatsal; Guy Hoffman (CoRR, 2020)

Privacy-Preserving Pose Estimation for Human-Robot Interaction - Youya Xia; Yifan Tang; Yuhan Hu; Guy Hoffman (CoRR, 2020)

Home robotic devices for older adults: Opportunities and concerns - Inbal Deutsch; Hadas Erel; Michal Paz; Guy Hoffman; Oren Zuckerman (Comput. Hum. Behav., 2019)

Evaluating Fluency in Human-Robot Collaboration - Guy Hoffman (IEEE Trans. Hum. Mach. Syst., 2019)

Blossom: A Handcrafted Open-Source Robot - Michael Suguitan; Guy Hoffman (ACM Trans. Hum. Robot Interact., 2019)

Negotiating the Creative Space in Human-Robot Collaborative Design - Matthew V. Law; Jihyun Jeong; Amritansh Kwatra; Malte F. Jung; Guy Hoffman (Proceedings of the 2019 on Designing Interactive Systems Conference, DIS 2019, San Diego, CA, USA, June 23-28, 2019, 2019)

Active Attention-Modified Policy Shaping: Socially Interactive Agents Track - Taylor Kessler Faulkner; Reymundo A. Gutierrez; Elaine Schaertl Short; Guy Hoffman; Andrea Lockerd Thomaz (Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems, AAMAS '19, Montreal, QC, Canada, May 13-17, 2019, 2019)

Using Skin Texture Change to Design Emotion Expression in Social Robots - Yuhan Hu; Guy Hoffman (14th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2019, Daegu, South Korea, March 11-14, 2019, 2019)

Monetary-Incentive Competition Between Humans and Robots: Experimental Results - Alap Kshirsagar; Bnaya Dreyfuss; Guy Ishai; Ori Heffetz; Guy Hoffman (14th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2019, Daegu, South Korea, March 11-14, 2019, 2019)

Affective Robot Movement Generation Using CycleGANs - Michael Suguitan; Mason Bretan; Guy Hoffman (14th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2019, Daegu, South Korea, March 11-14, 2019, 2019)

SMT-Based Control and Feedback for Social Navigation - Thais Campos; Adam Pacheck; Guy Hoffman; Hadas Kress-Gazit (International Conference on Robotics and Automation, ICRA 2019, Montreal, QC, Canada, May 20-24, 2019, 2019)

Specifying and Synthesizing Human-Robot Handovers - Alap Kshirsagar; Hadas Kress-Gazit; Guy Hoffman (2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, SAR, China, November 3-8, 2019, 2019)

Software architecture for YOLO, a creativity-stimulating robot - Patrícia Alves-Oliveira; Samuel Gomes; Ankita Chandak; Patrícia Arriaga; Guy Hoffman; Ana Paiva (CoRR, 2019)

Verification and Synthesis of Human-Robot Interaction (Dagstuhl Seminar 19081) - Rachid Alami; Kerstin I. Eder; Guy Hoffman; Hadas Kress-Gazit (Dagstuhl Reports, 2019)

Blossom: A Tensile Social Robot Design with a Handcrafted Shell (Demo Abstract) - Michael Suguitan; Guy Hoffman (Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2018, Chicago, IL, USA, March 05-08, 2018, 2018)

Blossom: A Tensile Social Robot Design with a Handcrafted Shell - Michael Suguitan; Guy Hoffman (Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2018, Chicago, IL, USA, March 05-08, 2018, 2018)

At Arm's Length: Challenges in Building a Wearable Robotic Forearm for Human-Robot Collaboration - Vighnesh Vatsal; Guy Hoffman (Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2018, Chicago, IL, USA, March 05-08, 2018, 2018)

A Wearable Robotic Forearm for Human-Robot Collaboration - Vighnesh Vatsal; Guy Hoffman (Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2018, Chicago, IL, USA, March 05-08, 2018, 2018)

Blossom: A Tensile Social Robot Design with a Handcrafted Shell - Michael Suguitan; Guy Hoffman (Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2018, Chicago, IL, USA, March 05-08, 2018, 2018)

Design and Analysis of a Wearable Robotic Forearm - Vighnesh Vatsal; Guy Hoffman (2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, May 21-25, 2018, 2018)

The Greeting Machine: An Abstract Robotic Object for Opening Encounters - Lucy Anderson-Bashan; Benny Megidish; Hadas Erel; Iddo Wald; Guy Hoffman; Oren Zuckerman; Andrey Grishko (27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018, Nanjing, China, August 27-31, 2018, 2018)

Soft skin texture modulation for social robotics - Yuhan Hu; Zhengnan Zhao; Abheek Vimal; Guy Hoffman (IEEE International Conference on Soft Robotics, RoboSoft 2018, Livorno, Italy, April 24-28, 2018, 2018)

Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2018, Chicago, IL, USA, March 05-08, 2018 - Takayuki Kanda; Selma Sabanovic; Guy Hoffman; Adriana Tapus (ACM, 2018)

Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2018, Chicago, IL, USA, March 05-08, 2018 - Takayuki Kanda; Selma Sabanovic; Guy Hoffman; Adriana Tapus (ACM, 2018)

YOLO, a Robot for Creativity: A Co-Design Study with Children - Patrícia Alves-Oliveira; Patrícia Arriaga; Ana Paiva; Guy Hoffman (Proceedings of the 2017 Conference on Interaction Design and Children, Stanford, CA, USA, June 27-30, 2017, 2017)

Comparing Social Robot, Screen and Voice Interfaces for Smart-Home Control - Michal Luria; Guy Hoffman; Oren Zuckerman (Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems, Denver, CO, USA, May 06-11, 2017, 2017)

Animating Mechanisms: A Pipeline for Authoring Robot Gestures - Benny Megidish; Oren Zuckerman; Guy Hoffman (Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017, Vienna, Austria, March 6-9, 2017, 2017)

Wearing your arm on your sleeve: Studying usage contexts for a wearable robotic forearm - Vighnesh Vatsal; Guy Hoffman (26th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2017, Lisbon, Portugal, August 28 - Sept. 1, 2017, 2017)

What robots can teach us about intimacy: The reassuring effects of robot responsiveness to human disclosure - Gurit E. Birnbaum; Moran Mizrahi; Guy Hoffman; Harry T. Reis; Eli J. Finkel; Omri Sass (Comput. Hum. Behav., 2016)

Computational Human-Robot Interaction - Andrea Thomaz; Guy Hoffman; Maya Çakmak (Found. Trends Robotics, 2016)

Robotic experience companionship in music listening and video watching - Guy Hoffman; Shira Bauman; Keinan Vanunu (Pers. Ubiquitous Comput., 2016)

OpenWoZ: A Runtime-Configurable Wizard-of-Oz Framework for Human-Robot Interaction - Guy Hoffman (2016 AAAI Spring Symposia, Stanford University, Palo Alto, California, USA, March 21-23, 2016, 2016)

Machines as a Source of Consolation: Robot Responsiveness Increases Human Approach Behavior and Desire for Companionship - Gurit E. Birnbaum; Moran Mizrahi; Guy Hoffman; Harry T. Reis; Eli J. Finkel; Omri Sass (The Eleventh ACM/IEEE International Conference on Human Robot Interation, HRI 2016, Christchurch, New Zealand, March 7-10, 2016, 2016)

Studying the Opposing Effects of Robot Presence on Human Corruption - Michal Roizman; Guy Hoffman; Shahar Ayal; Guy Hochman; Michal Reifen Tagar; Yossi Maaravi (The Eleventh ACM/IEEE International Conference on Human Robot Interation, HRI 2016, Christchurch, New Zealand, March 7-10, 2016, 2016)

Design Skills for HRI - David Sirkin; Nik Martelaro; Hamish Tennent; Mishel Johns; Brian K. Mok; Wendy Ju; Guy Hoffman; Heather Knight; Bilge Mutlu; Leila Takayama (The Eleventh ACM/IEEE International Conference on Human Robot Interation, HRI 2016, Christchurch, New Zealand, March 7-10, 2016, 2016)

Boosting Children's Creativity through Creative Interactions with Social Robots - Patrícia Alves-Oliveira; Patrícia Arriaga; Guy Hoffman; Ana Paiva (The Eleventh ACM/IEEE International Conference on Human Robot Interation, HRI 2016, Christchurch, New Zealand, March 7-10, 2016, 2016)

Let's be honest: A controlled field study of ethical behavior in the presence of a robot - Jodi Forlizzi; Thidanun Saensuksopa; Natalie Salaets; Mike Shomin; Tekin Meriçli; Guy Hoffman (25th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2016, New York, NY, USA, August 26-31, 2016, 2016)

Designing Vyo, a robotic Smart Home assistant: Bridging the gap between device and social agent - Michal Luria; Guy Hoffman; Benny Megidish; Oren Zuckerman; Sung Park (25th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2016, New York, NY, USA, August 26-31, 2016, 2016)

KIP3: Robotic Companion as an External Cue to Students with ADHD - Oren Zuckerman; Guy Hoffman; Daphne Kopelman-Rubin; Anat Brunstein Klomek; Noa Shitrit; Yahav Amsalem; Yaron Shlomi (Proceedings of the TEI '16: Tenth International Conference on Tangible, Embedded, and Embodied Interaction, Eindhoven, The Netherlands, February 14-17, 2016, 2016)

Emotionally expressive dynamic physical behaviors in robots - Mason Bretan; Guy Hoffman; Gil Weinberg (Int. J. Hum. Comput. Stud., 2015)

Designing Fluent Human-Robot Collaboration - Guy Hoffman (Proceedings of the 3rd International Conference on Human-Agent Interaction, HAI 2015, Daegu, Kyungpook, Republic of Korea, October 21-24, 2015, 2015)

Design and Evaluation of a Peripheral Robotic Conversation Companion - Guy Hoffman; Oren Zuckerman; Gilad Hirschberger; Michal Luria; Tal Shani-Sherman (Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2015, Portland, OR, USA, March 2-5, 2015, 2015)

Robot Presence and Human Honesty: Experimental Evidence - Guy Hoffman; Jodi Forlizzi; Shahar Ayal; Aaron Steinfeld; John Antanitis; Guy Hochman; Eric Hochendoner; Justin Finkenaur (Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2015, Portland, OR, USA, March 2-5, 2015, 2015)

Mirror Puppeteering: Animating Toy Robots in Front of a Webcam - Ronit Slyper; Guy Hoffman; Ariel Shamir (Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction, TEI '15, Stanford, California, USA, January 15-19, 2015, 2015)

Empathy Objects: Robotic Devices as Conversation Companions - Oren Zuckerman; Guy Hoffman (Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction, TEI '15, Stanford, California, USA, January 15-19, 2015, 2015)

In-car game design for children: Promoting interactions inside and outside the car - Oren Zuckerman; Guy Hoffman; Ayelet Gal-Oz (Int. J. Child Comput. Interact., 2014)

Designing robots with movement in mind - Guy Hoffman; Wendy Ju (J. Hum. Robot Interact., 2014)

Robot responsiveness to human disclosure affects social impression and appeal - Guy Hoffman; Gurit E. Birnbaum; Keinan Vanunu; Omri Sass; Harry T. Reis (ACM/IEEE International Conference on Human-Robot Interaction, HRI'14, Bielefeld, Germany, March 3-6, 2014, 2014)

Timing in human-robot interaction - Guy Hoffman; Maya Cakmak; Crystal Chao (ACM/IEEE International Conference on Human-Robot Interaction, HRI'14, Bielefeld, Germany, March 3-6, 2014, 2014)

In-car game design for children: child vs. parent perspective - Guy Hoffman; Ayelet Gal-Oz; Shlomi David; Oren Zuckerman (Interaction Design and Children 2013, IDC '13, New York, NY, USA - June 24 - 27, 2013, 2013)

Effects of robotic companionship on music enjoyment and agent perception - Guy Hoffman; Keinan Vanunu (ACM/IEEE International Conference on Human-Robot Interaction, HRI 2013, Tokyo, Japan, March 3-6, 2013, 2013)

Embodied Cognition for Autonomous Interactive Robots - Guy Hoffman (Top. Cogn. Sci., 2012)

Dumb robots, smart phones: A case study of music listening companionship - Guy Hoffman (The 21st IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2012, Paris, France, September 9-13, 2012, 2012)

Interactive improvisation with a robotic marimba player - Guy Hoffman; Gil Weinberg (Auton. Robots, 2011)

Effects of anticipatory perceptual simulation on practiced human-robot tasks - Guy Hoffman; Cynthia Breazeal (Auton. Robots, 2010)

Anticipation in Human-Robot Interaction - Guy Hoffman (It's All in the Timing, Papers from the 2010 AAAI Spring Symposium, Technical Report SS-10-06, Stanford, California, USA, March 22-24, 2010, 2010)

Shimon: an interactive improvisational robotic marimba player - Guy Hoffman; Gil Weinberg (Proceedings of the 28th International Conference on Human Factors in Computing Systems, CHI 2010, Extended Abstracts Volume, Atlanta, Georgia, USA, April 10-15, 2010, 2010)

Gesture-based human-robot Jazz improvisation - Guy Hoffman; Gil Weinberg (IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010, 2010)

Synchronization in human-robot Musicianship - Guy Hoffman; Gil Weinberg (19th IEEE International Conference on Robot and Human Interactive Communication, Viareggio, Italy, RO-MAN, 2010, September 13-15, 2010, 2010)

Shimon + ZOOZbeat: an improvising robot musician you can jam with - Gil Weinberg; Guy Hoffman; Ryan Nikolaidis; Roberto Aimi (International Conference on Computer Graphics and Interactive Techniques, SIGGRAPH ASIA 2009, Yokohama, Japan, December 16-19, 2009, Art Gallery & Emerging Technologies: Adaptation, 2009)

Anticipatory Perceptual Simulation for Human-Robot Joint Practice: Theory and Application Study - Guy Hoffman; Cynthia Breazeal (Proceedings of the Twenty-Third AAAI Conference on Artificial Intelligence, AAAI 2008, Chicago, Illinois, USA, July 13-17, 2008, 2008)

Achieving fluency through perceptual-symbol practice in human-robot collaboration - Guy Hoffman; Cynthia Breazeal (Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction, HRI 2008, Amsterdam, The Netherlands, March 12-15, 2008, 2008)

A hybrid control system for puppeteering a live robotic stage actor - Guy Hoffman; Rony Kubat; Cynthia Breazeal (The 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2008, Munich, Germany, August 1-3, 2008, 2008)

Cost-Based Anticipatory Action Selection for Human-Robot Fluency - Guy Hoffman; Cynthia Breazeal (IEEE Trans. Robotics, 2007)

Effects of anticipatory action on human-robot teamwork efficiency, fluency, and perception of team - Guy Hoffman; Cynthia Breazeal (Proceedings of the Second ACM SIGCHI/SIGART Conference on Human-Robot Interaction, HRI 2007, Arlington, Virginia, USA, March 10-12, 2007, 2007)

Time bracketing study: stata latin - Guy Hoffman (International Conference on Computer Graphics and Interactive Techniques, SIGGRAPH 2007, San Diego, California, USA, August 5-9, 2007, Art Gallery, 2007)

What Lies Ahead? Expectation Management in Human-Robot Collaboration - Guy Hoffman; Cynthia Breazeal (To Boldly Go Where No Human-Robot Team Has Gone Before, Papers from the 2006 AAAI Spring Symposium, Technical Report SS-06-07, Stanford, California, USA, March 27-29, 2006, 2006)

Experiments in socially guided machine learning: understanding how humans geach - Andrea Lockerd Thomaz; Guy Hoffman; Cynthia Breazeal (Proceedings of the 1st ACM SIGCHI/SIGART Conference on Human-Robot Interaction, HRI 2006, Salt Lake City, Utah, USA, March 2-3, 2006, 2006)

Reinforcement Learning with Human Teachers: Understanding How People Want to Teach Robots - Andrea Lockerd Thomaz; Guy Hoffman; Cynthia Breazeal (The 15th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2006, Hatfield, Herthfordshire, UK, 6-8 September, 2006, 2006)

Effects of nonverbal communication on efficiency and robustness in human-robot teamwork - Cynthia Breazeal; Cory D. Kidd; Andrea Lockerd Thomaz; Guy Hoffman; Matt Berlin (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alberta, Canada, August 2-6, 2005, 2005)

Robot's play: interactive games with sociable machines - Andrew G. Brooks; Jesse Gray; Guy Hoffman; Andrea Lockerd; Hans Lee; Cynthia Breazeal (Comput. Entertain., 2004)

Tutelage and Collaboration for Humanoid Robots - Cynthia Breazeal; Andrew G. Brooks; Jesse Gray; Guy Hoffman; Cory D. Kidd; Hans Lee; Jeff Lieberman; Andrea Lockerd; David Chilongo (Int. J. Humanoid Robotics, 2004)

Robot's play: interactive games with sociable machines - Andrew G. Brooks; Jesse Gray; Guy Hoffman (Proceedings of the 2004 ACM SIGCHI International Conference on Advances in Computer Entertainment Technology, 2004, Singapore, June 3-5, 2004, 2004)

Robots that Work in Collaboration with People - Guy Hoffman; Cynthia Breazeal (The Intersection of Cognitive Science and Robotics: From Interfaces to Intelligence, Papers from the 2004 AAAI Fall Symposium. Arlington, VA, USA, October 22-24, 2004, 2004)

Teaching and Working with Robots as a Collaboration - Cynthia Breazeal; Guy Hoffman; Andrea Lockerd (3rd International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS 2004), 19-23 August 2004, New York, NY, USA, 2004)

Working collaboratively with humanoid robots - Cynthia Breazeal; Andrew G. Brooks; David Chilongo; Jesse Gray; Guy Hoffman; Cory D. Kidd; Hans Lee; Jeff Lieberman; Andrea Lockerd (4th IEEE/RAS International Conference on Humanoid Robots, Humanoids 2004, Santa Monica, CA, USA, November 10-12, 2004, 2004)