Publications

Journals

2023:

Coordinated Multi-Robot Shared Autonomy Based on Scheduling and Demonstrations.
M. Hagenow, E. Senft, N. Orr, R. Radwin, M. Gleicher, B. Mutlu, DP. Losey, M. Zinn
IEEE Robotics and Automation Letters (RA-L).
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Periscope: A Robotic Camera System to Support Remote Physical Collaboration.
P. Praveena, Y. Wang, E. Senft, M. Gleicher, B. Mutlu
Accepted in PACM HCI and presented at CSCW 2023, DOI.
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2022:

Personalised Socially Assistive Robot for Cardiac Rehabilitation: Critical Reflections on Long-Term Interactions in the Real World.
B. Irfan, N. Céspedes, J. Casas, E. Senft, L.F. Gutiérrez, M. Rincon-Roncancio, C.A. Cifuentes, T. Belpaeme, and M. Múnera
User Modeling and User-Adapted Interaction., DOI.
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Manually Acquiring Targets from Multiple Viewpoints Using Video Feedback.
B. Ramesh, A. Konstant, P. Pravenna, E. Senft, M. Gleicher, B. Mutlu, M. Zinn, R.G. Radwin
Human Factors: The Jounral of the Human Factors and Ergonomics Society, DOI.
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2021:

Task-Level Authoring for Remote Robot Teleoperation.
E. Senft, M. Hagenow, K. Welsh, R. Radwin, M. Zinn, M. Gleicher, B. Mutlu
Frontiers in Robotics and AI, DOI.
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LEADOR: A Method for End-to-End Participatory Design of Autonomous Social Robots.
E. Senft*, K. Winkle*, S. Lemaignan (* shared fist-authorship)
Accepted in Frontiers in Robotics and AI, DOI.
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Assessing Limited Visibility Feedback for Overhead Manufacturing Assembly Tasks.
P. Bhat, E. Senft, M. Zinn, M. Gleicher, B. Mutlu, R. Cook, R. Radwin
Applied Ergonomics, DOI.
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Informing Real-time Corrections in Corrective Shared Autonomy Through Expert Demonstrations.
M. Hagenow, E. Senft, R. Radwin, M. Gleicher, B. Mutlu, M. Zinn
IEEE Robotics and Automation Letters, DOI.
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Corrective Shared Autonomy for Addressing Task Variability.
M. Hagenow, E. Senft, R. Radwin, M. Gleicher, B. Mutlu, M. Zinn
IEEE Robotics and Automation Letters, DOI.
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A Socially Assistive Robot for Long-Term Cardiac Rehabilitation in the Real World.
N. Céspedes Gómez, B. Irfan, E. Senft, C.A. Cifuentes, L.F. Gutierrez, M. Rincon-Roncancio, T. Belpaeme, M. Munera
Frontiers in Neurorobotics, DOI.
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2020:

Social Assistive Robots: Assessing the Impact of a Training Assistant Robot in Cardiac Rehabilitation.
J. Casas, E. Senft, L.F. Gutiérrez, M. Rincón-Rocancio, M. Múnera, T. Belpaeme, C.A. Cifuentes
International Journal of Social Robotics, DOI.
PDF coming soon
The DREAM Dataset: Supporting a data-driven study of autism spectrum disorder and robot enhanced therapy.
E. Billing , T. Belpaeme, H. Cai, H.-Long Cao, A. Ciocan, C. Costescu, D. David, R. Homewood, D. Hernandez Garcia, P. Gómez Esteban, H. Liu, V. Nair, S. Matu, A. Mazel, M. Selescu, E. Senft, S. Thill, B. Vanderborght, D. Vernon, T. Ziemke
PLoS ONE 15(8): e0236939, DOI.
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2019:

Teaching robots social autonomy from in situ human guidance
E. Senft, S. Lemaignan, PE. Baxter, M. Bartlett, T. Belpaeme
Science Robotics 4 (35), DOI.
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Generating Spatial Referring Expressions in a Social Robot: Dynamic vs Non-Ambiguous
CD. Wallbridge, S. Lemaignan, E. Senft, T. Belpaeme
Frontiers in Robotics and AI 6, 67, DOI.
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Robot-enhanced therapy: development and validation of a supervised autonomous robotic system for autism spectrum disorders therapy
HL. Cao, PG. Esteban, M. Bartlett, PE. Baxter, T. Belpaeme, E. Billing, H. Cai, M. Coeckelbergh, C. Costescu, D. David, A. De Beir, D. Hernandez Garcia, J. Kennedy, H. Liu, S. Matu, A. Mazel, A. Kumar Pandey, K. Richardson, E. Senft, S. Thill, G. Van de Perre, B. Vanderborght, D. Vernon, K. Wakanuma, H. Yu, X. Zhou, T. Ziemke
IEEE Robotics and Automation Magazine.
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2018:

The PInSoRo dataset: supporting the data-driven study of child-child and child-robot social dynamics
S. Lemaignan, C. Edmunds, E. Senft, T. Belpaeme
PloS One 13 (10), DOI.
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A personalized and platform-independent behavior control system for social robots in therapy: development and applications
H. Cao, G. Van de Perre, J. Kennedy, E. Senft, P. Gómez Esteban, A. De Beir, R. Simut, T. Belpaeme, D. Lefeber, B. Vanderborght
IEEE Transactions on Cognitive and Developmental Systems, DOI.
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2017:

Supervised Autonomy for Online Learning in Human-Robot Interaction
E. Senft, P. Baxter, J. Kennedy, S. Lemaignan & T. Belpaeme
Pattern Recognition Letters, DOI.
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How to build a supervised autonomous system for robot-enhanced therapy for children with autism spectrum disorder
P. G. Esteban, P. Baxter, T. Belpaeme, E. Billing, H. Cai, H. Cao, M. Coeckelbergh, C. Costescu, D. David, A. Beir, Y. Fang, Z. Ju, J. Kennedy, H. Liu, A. Mazel, A. Pandey, K. Richardson, E. Senft, S. Thill, G. Perre, B. Vanderborght, D. Vernon, H. Yu & T. Ziemke
Paladyn: journal of behavioral robotics.
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Conferences

2024:

A System for Human-Robot Teaming through End-User Programming and Shared Autonomy
M. Hagenow, E. Senft, R. Radwin, M. Gleicher, M. Zinn, B. Mutlu
Accepted at the 19th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Boulder, CO, USA, March 2024.
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2023:

Situated Participatory Design: A Method for In Situ Design of Robotic Interaction with Older Adults
L. Stegner, E. Senft, B. Mutlu
Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems (CHI), Hamburg, Germany, April 2023.
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2022:

A Method For Automated Drone Viewpoints to Support Remote Robot Manipulation
E. Senft*, M. Hagenow*, P. Praveena, R. Radwin, M. Zinn, M. Gleicher, B. Mutlu (* shared fist-authorship)
Accepted at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 2022.
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Registering Articulated Objects With Human-in-the-loop Corrections
M. Hagenow, E. Senft, E. Laske, K. Hambuchen, T. Fong, R. Radwin, M. Gleicher, B. Mutlu, M. Zinn
Accepted at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 2022.
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Understanding Control Frames in Multi-Camera Robot Telemanipulation
P. Praveena, L. Molina, Y. Wang, E. Senft, B. Mutlu, M. Gleicher
Proc. 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI), , Virtual event, March 2022.
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2021:

Situated Live Programming for Human-Robot Collaboration
E. Senft, M. Hagenow, R. Radwin, M. Zinn, M. Gleicher, B. Mutlu
Accepted at the 33rd Annual ACM Symposium on User Interface Software and Technology (UIST), , Virtual event, October 2021.
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2020:

Would You Mind Me if I Pass by You? Socially-Appropriate Behaviour for an Omni-based Social Robot in Narrow Environment
E. Senft, S. Satake, T. Kanda
Proc. 15th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Cambridge, UK, March 2020.
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Using a Personalised Socially Assistive Robot for Cardiac Rehabilitation: A Long-Term Case Study
B. Irfan, N. Céspedes, J. Casas, E. Senft, L.F. Gutierrez, M. Rincon-Roncancio, M. Munera, T. Belpaeme, C.A. Cifuentes Garcia
Proc. 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Napoli, Italy, August-September 2020.
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2018:

Social psychology and Human-Robot Interaction: an Uneasy Marriage
B. Irfan, J. Kennedy, S. Lemaignan, F. Papadopoulos, E. Senft, T. Belpaeme
Companion Proc. 13th ACM/IEEE International Conference on Human-Robot Interaction alt.HRI, Chicago, USA, March 2018.
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Architecture for a Social Assistive Robot in Cardiac Rehabilitation
J. Casas, NC. Gomez, E. Senft, B. Irfan, L.F. Gutiérrez, M. Rincón, M. Múnera, T. Belpaeme, and C.A. Cifuentes
Proc. Colombian Conference on Robotics and Automation (CCRA), Colombia, Barranquilla, November 2018.
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2017:

Child Speech Recognition in Human-Robot Interaction: Evaluations and Recommendations
J. Kennedy, S. Lemaignan, C. Montassier, P. Lavalade, B. Irfan, F. Papadopoulos, E. Senft and T. Belpaeme
Proc. 12th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Austria, Vienna, March 2017.
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Human-robot sensor interface for cardiac rehabilitation
J. Lara, J. Cases, A. Aguirre, M. Munera, M. Rincon-Roncancio, B. Irfan, E. Senft, T. Belpaeme and C.A. Cifuentes
Proc. 15th IEEE International Conference on Rehabilitation Robotics (ICORR), United Kingdom, London, July 2017.
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Sensor Interface for Cardiac Rehabilitation Monitoring: Pilot Clinical Study
J. Lara, J. Cases, M. Munera, E. Senft, B. Irfan, L. Gutiérrez, T. Belpaeme and C.A. Cifuentes
IX Congreso Iberoamericano de Tecnologi as de Apoyo a la Discapacidad (IBERDISCAP), Colombia, Bogotá, November 2017.
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2016:

From Characterising Three Years of HRI to Methodology and Reporting Recommendations
P. Baxter, J. Kennedy, E. Senft, S. Lemaignan & T. Belpaeme
Proc. 11th ACM/IEEE International Conference on Human-Robot Interaction (alt.HRI) (HRI), New Zealand, Christchurch, March 2016.
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Social Robot Tutoring for Child Second Language Learning
J. Kennedy, P. Baxter, E. Senft & T. Belpaeme
Proc. 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI), New Zealand, Christchurch, March 2016.
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2015:

SPARC: Supervised Progressively Autonomous Robot Competencies.
E. Senft, P. Baxter, J. Kennedy & T. Belpaeme
Proc. 7th International Conference of Social Robotics (ICSR), Paris, France, October 2015.
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Higher Nonverbal Immediacy Leads to Greater Learning Gains in Child-Robot Tutoring Interactions.
J. Kennedy, P. Baxter, E. Senft & T. Belpaeme
Proc. 7th International Conference of Social Robotics (ICSR), Paris, France, October 2015.
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Touchscreen-Mediated Child-Robot Interactions Applied to ASD Therapy.
P. Baxter, S. Matu, E. Senft, C. Costescu, J. Kennedy, D. David, & T. Belpaeme
Proc. 1st International Conference on Social Robots in Therapy and Education (New Friends), Almere, Netherlands, October 2015.
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2013:

An experimental study on the role of compliant elements on the locomotion of the self-reconfigurable modular robots Roombots.
M. Vespignani, E. Senft, S. Bonardi, R. Möckel & A. Ijspeert (2013).
Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 2013.
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Workshops and Posters

2023:

Towards Improved Replicability of Human Studies in Human-Robot Interaction: Recommendations for Formalized Reporting
S. Bagchi, P. Holthaus, G. Beraldo, E. Senft, D. Hernandez Garcia, Z. Han, S. Kumaar Jayaraman, A. Rossi, C. Esterwood, A. Andriella, P. Pridham
Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI), Stockhold, Sweden, March 2023.
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2019:

Towards Generating Spatial Referring Expressions in a Social Robot: Dynamic vs Non-Ambiguous
CD. Wallbridge, S. Lemaignan, E. Senft, T. Belpaeme
Companion Proc. 14th ACM/IEEE International Conference on Human-Robot Interaction Extended Abstract (HRI), Daegu, Korea, March 2019.
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2018:

From Evaluating to Teaching: Rewards and Challenges of Human Control for Learning Robots
E. Senft, S. Lemaignan, P. Baxter and T. Belpaeme
Proc. of the Human/Robot in the loop Machine Learning Workshop at IROS (HRML), Spain, Madrid, October 2018.
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Robots in the classroom: Learning to be a Good Tutor
E. Senft, S. Lemaignan, M. Bartlett, P. Baxter, T. Belpaeme
4th Workshop on Robots for Learning at HRI (R4L), Chicago, USA, March 2018.
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Social Assistive Robot for Cardiac Rehabilitation: A Pilot Study with Patients with Angioplasty
J. Casas, B. Irfan, E. Senft, L. Gutiérrez, M. Rincon-Roncancio, M. Munera, T. Belpaeme, C.A. Cifuentes
Companion Proc. 13th ACM/IEEE International Conference on Human-Robot Interaction Extended Abstract (HRI), Chicago, USA, March 2018.
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Towards a SAR System for Personalized Cardiac Rehabilitation: A Patient with PCI
J. Casas, B. Irfan, E. Senft, L.F. Gutiérrez, M. Rincon-Roncancio, M. Munera, T. Belpaeme, C.A. Cifuentes
Workshop on Human-Robot Interaction Personal Robots for Exercising and Coaching workshop at HRI (HRI), Chicago, USA, March 2018.
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2017:

Toward Supervised Reinforcement Learning with Partial States for Social HRI
E. Senft, S. Lemaignan, P. Baxter and T. Belpaeme
4th AAAI FSS on Artificial Intelligence for Social Human-Robot Interaction (AI-HRI), USA, Arlington, November 2017.
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Leveraging Human Inputs in Interactive Machine Learning for Human Robot Interaction.
E. Senft, S. Lemaignan, P. Baxter & T. Belpaeme
Proc. 12th ACM/IEEE International Conference on Human-Robot Interaction Extended Abstract (HRI), Austria, Vienna, March 2017.
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2016:

SPARC: an efficient way to combine reinforcement learning and supervised autonomy.
E. Senft, S. Lemaignan, P. Baxter & T. Belpaeme
Proc. of the Future of Interactive Learning Machines at NIPS (FILM), Spain, Barcelona, December 2016.
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Providing a Robot with Learning Abilities Improves its Perception by Users
E. Senft, P. Baxter, J. Kennedy, S. Lemaignan & T. Belpaeme
Proc. 11th ACM/IEEE International Conference on Human-Robot Interaction Extended Abstract (HRI), New Zealand, Christchurch, March 2016.
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Heart vs Hard Drive: Children Learn More From a Human Tutor Than a Social Robot
J. Kennedy, P. Baxter, E. Senft & T. Belpaeme
Proc. 11th ACM/IEEE International Conference on Human-Robot Interaction Extended Abstract (HRI), New Zealand, Christchurch, March 2016.
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Socially Contingent Humanoid Robot Head Behaviour Results in Increased Charity Donations
P. Wills, P. Baxter, J. Kennedy, E. Senft & T. Belpaeme
Proc. 11th ACM/IEEE International Conference on Human-Robot Interaction Extended Abstract (HRI), New Zealand, Christchurch, March 2016.
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2015:

Using Immediacy to Characterise Robot Social Behaviour in Child-Robot Interactions.
Kennedy, J., Baxter, P., Senft, E., & Belpaeme, T.
Proc. 1st Workshop on Evaluating Child-Robot Interaction at ICSR , Paris, France, October 2015.
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The Wider Supportive Role of Social Robots in the Classroom for Teachers.
P. Baxter, E. Ashurst, J. Kennedy, E. Senft, S. Lemaignan & T. Belpaeme
1st Workshop on Evaluating Child-Robot Interaction at ICSR (WONDER), Paris, France, October 2015.
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Human-Guided Learning of Social Action Selection for Robot-Assisted Therapy.
E. Senft, P. Baxter & T. Belpaeme (2015)
Proc. 4th Workshop on Machine Learning for Interactive Systems at ICML (MLIS), Lille, France, July 2015.
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When is it Better to Give Up? Autonomous Action Selection for Robot Assisted ASD Therapy.
E. Senft, P. Baxter, J. Kennedy & T. Belpaeme (2015)
Proc. 10th ACM/IEEE International Conference on Human-Robot Interaction, Extended Abstracts (HRI), Portland (OR), USA, March 2015.
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