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Daniel Szafir

Daniel J. Szafir

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affiliation: University of North Carolina at Chapel Hill, NC, USA

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2020 – today

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2025
[c54]
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Bryce Ikeda, Maitrey Gramopadhye, LillyAnn Nekervis, Daniel Szafir:
MARCER: Multimodal Augmented Reality for Composing and Executing Robot Tasks. HRI 2025: 529-539
[c53]
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Chenyang Ma, Yue Yang, Bryce Ikeda, Daniel Szafir:
Supporting Long-Horizon Tasks in Human-Robot Collaboration by Aligning Intentions via Augmented Reality. HRI 2025: 1468-1472
[i18]
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  - journals/corr/abs-2502-15679
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Yue Yang, Linfeng Zhao, Mingyu Ding, Gedas Bertasius, Daniel Szafir:
BOSS: Benchmark for Observation Space Shift in Long-Horizon Task. CoRR abs/2502.15679 (2025)
[i17]
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  - journals/corr/abs-2503-14526
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Yu Fang, Yue Yang, Xinghao Zhu, Kaiyuan Zheng, Gedas Bertasius, Daniel Szafir, Mingyu Ding:
ReBot: Scaling Robot Learning with Real-to-Sim-to-Real Robotic Video Synthesis. CoRR abs/2503.14526 (2025)
2024
[j11]
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Nicholas Conlon, Nisar R. Ahmed, Daniel Szafir:
A Survey of Algorithmic Methods for Competency Self-Assessments in Human-Autonomy Teaming. ACM Comput. Surv. 56(7): 164:1-164:31 (2024)
[j10]
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Bryce Ikeda, Daniel Szafir:
PRogramAR: Augmented Reality End-User Robot Programming. ACM Trans. Hum. Robot Interact. 13(1): 15:1-15:20 (2024)
[j9]
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Connor Brooks, Wyatt Rees, Daniel Szafir:
Assistance in Teleoperation of Redundant Robots through Predictive Joint Maneuvering. ACM Trans. Hum. Robot Interact. 13(3): 35:1-35:23 (2024)
[c52]
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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:
PD-Insighter: A Visual Analytics System to Monitor Daily Actions for Parkinson's Disease Treatment. CHI 2024: 130:1-130:18
[c51]
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  - conf/egpgv/TsalikisSSM24
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Spiros Tsalikis, William J. Schroeder, Daniel Szafir, Kenneth Moreland:
An Accelerated Clip Algorithm for Unstructured Meshes: A Batch-Driven Approach. EGPGV@EuroVis 2024
[c50]
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  - conf/hri/WalkerGIBS24
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Michael E. Walker, Maitrey Gramopadhye, Bryce Ikeda, Jack Burns, Daniel Szafir:
The Cyber-Physical Control Room: A Mixed Reality Interface for Mobile Robot Teleoperation and Human-Robot Teaming. HRI 2024: 762-771
[c49]
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  - conf/hri/AdmoniJSS24
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Henny Admoni, Wafa Johal, Daniel Szafir, Anara Sandygulova:
Designing an Introductory HRI Course. HRI (Companion) 2024: 1302-1304
[c48]
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Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir:
ARCADE: Scalable Demonstration Collection and Generation via Augmented Reality for Imitation Learning. IROS 2024: 2855-2861
[c47]
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  - conf/sigcse/HoelscherISA24
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Janine Hoelscher, Bryce Ikeda, Daniel Szafir, Ron Alterovitz:
Incorporating Retakes in a Robotics Class with Labs. SIGCSE (2) 2024: 1676-1677
[i16]
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  - journals/corr/abs-2403-05588
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Henny Admoni, Daniel Szafir, Wafa Johal, Anara Sandygulova:
Paper index: Designing an introductory HRI course (workshop at HRI 2024). CoRR abs/2403.05588 (2024)
[i15]
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  - journals/corr/abs-2403-13910
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Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir:
Augmented Reality Demonstrations for Scalable Robot Imitation Learning. CoRR abs/2403.13910 (2024)
[i14]
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  - journals/corr/abs-2404-10661
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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:
PD-Insighter: A Visual Analytics System to Monitor Daily Actions for Parkinson's Disease Treatment. CoRR abs/2404.10661 (2024)
[i13]
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  - journals/corr/abs-2410-15994
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Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir:
ARCADE: Scalable Demonstration Collection and Generation via Augmented Reality for Imitation Learning. CoRR abs/2410.15994 (2024)
2023
[j8]
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  - journals/firai/ConlonAS23
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Nicholas Conlon, Nisar R. Ahmed, Daniel Szafir:
Event-triggered robot self-assessment to aid in autonomy adjustment. Frontiers Robotics AI 10 (2023)
[j7]
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  - journals/thri/WalkerPC0S23
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Michael E. Walker, Thao Phung, Tathagata Chakraborti, Tom Williams, Daniel Szafir:
Virtual, Augmented, and Mixed Reality for Human-robot Interaction: A Survey and Virtual Design Element Taxonomy. ACM Trans. Hum. Robot Interact. 12(4): 43:1-43:39 (2023)
[c46]
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Bryce Ikeda, Janine Hoelscher, Ron Alterovitz, Daniel Szafir:
Guiding the Development of Undergraduate Educational Robotics. CompEd (1) 2023: 71-77
[c45]
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  - conf/hai/HedayatiM0S23
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Hooman Hedayati, Annika Muehlbradt, James Kennedy, Daniel Szafir:
Identifying the Focus of Attention in Human-Robot Conversational Groups. HAI 2023: 3-12
[c44]
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  - conf/iros/GramopadhyeS23
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Maitrey Gramopadhye, Daniel Szafir:
Generating Executable Action Plans with Environmentally-Aware Language Models. IROS 2023: 3568-3575
[c43]
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  - conf/vr/ZhangPCHKJISSSF23
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Qian Zhang, Akshay Paruchuri, Young-Woon Cha, Jiabin Huang, Jade Kandel, Howard Jiang, Adrian Ilie, Andrei State, Danielle Albers Szafir, Daniel Szafir, Henry Fuchs:
Reconstruction of Human Body Pose and Appearance Using Body-Worn IMUs and a Nearby Camera View for Collaborative Egocentric Telepresence. VR Workshops 2023: 96-97
[i12]
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  - journals/corr/abs-2303-01646
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Nicholas Conlon, Nisar R. Ahmed, Daniel Szafir:
Dynamic Competency Self-Assessment for Autonomous Agents. CoRR abs/2303.01646 (2023)
[i11]
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  - journals/corr/abs-2306-10051
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Tathagata Chakraborti, Jungkoo Kang, Christian Muise, Sarath Sreedharan, Michael E. Walker, Daniel Szafir, Tom Williams:
TOBY: A Tool for Exploring Data in Academic Survey Papers. CoRR abs/2306.10051 (2023)
2022
[j6]
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  - journals/firai/HedayatiSRLS22
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Hooman Hedayati, Ryo Suzuki, Wyatt Rees, Daniel Leithinger, Daniel Szafir:
Designing Expandable-Structure Robots for Human-Robot Interaction. Frontiers Robotics AI 9: 719639 (2022)
[c42]
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  - conf/hri/IkedaS22
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Bryce Ikeda, Daniel Szafir:
Advancing the Design of Visual Debugging Tools for Roboticists. HRI 2022: 195-204
[c41]
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Hooman Hedayati, Daniel Szafir:
Predicting Positions of People in Human-Robot Conversational Groups. HRI 2022: 402-411
[c40]
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  - conf/hri/AngelopoulosHSP22
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Angelos Angelopoulos, Austin Hale, Husam Shaik, Akshay Paruchuri, Ken Liu, Randal Tuggle, Daniel Szafir:
Drone Brush: Mixed Reality Drone Path Planning. HRI 2022: 678-682
[c39]
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  - conf/iros/ConlonSA22
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Nicholas Conlon, Daniel Szafir, Nisar R. Ahmed:
"I'mConfident This Will End Poorly": Robot Proficiency Self-Assessment in Human-Robot Teaming. IROS 2022: 2127-2134
[c38]
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  - conf/iros/BrooksS22
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Connor Brooks, Daniel Szafir:
The Predictive Kinematic Control Tree: Enhancing Teleoperation of Redundant Robots through Probabilistic User Models. IROS 2022: 10704-10711
[i10]
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  - journals/corr/abs-2202-11249
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Michael E. Walker, Thao Phung, Tathagata Chakraborti, Tom Williams, Daniel Szafir:
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction: A Survey and Virtual Design Element Taxonomy. CoRR abs/2202.11249 (2022)
[i9]
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  - journals/corr/abs-2203-10407
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Nicholas Conlon, Daniel Szafir, Nisar R. Ahmed:
Investigating the Effects of Robot Proficiency Self-Assessment on Trust and Performance. CoRR abs/2203.10407 (2022)
[i8]
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  - journals/corr/abs-2210-04964
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Maitrey Gramopadhye, Daniel Szafir:
Generating Executable Action Plans with Environmentally-Aware Language Models. CoRR abs/2210.04964 (2022)
2021
[c37]
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  - conf/hri/SzafirS21
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Daniel Szafir, Danielle Albers Szafir:
Connecting Human-Robot Interaction and Data Visualization. HRI 2021: 281-292
[c36]
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  - conf/icra/LuebbersBMSH21
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Matthew B. Luebbers, Connor Brooks, Carl L. Mueller, Daniel Szafir, Bradley Hayes:
ARC-LfD: Using Augmented Reality for Interactive Long-Term Robot Skill Maintenance via Constrained Learning from Demonstration. ICRA 2021: 3794-3800
[c35]
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Michael E. Walker, Zhaozhong Chen, Matthew Whitlock, David Blair, Danielle Albers Szafir, Christoffer Heckman, Daniel Szafir:
A Mixed Reality Supervision and Telepresence Interface for Outdoor Field Robotics. IROS 2021: 2345-2352
[c34]
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  - conf/iros/HedayatiGS21
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Hooman Hedayati, Mark D. Gross, Daniel Szafir:
What Information Should a Robot Convey? IROS 2021: 6232-6239
[e2]
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Cindy L. Bethel, Ana Paiva, Elizabeth Broadbent, David Feil-Seifer, Daniel Szafir:
ACM/IEEE International Conference on Human-Robot Interaction, HRI 2021, Boulder, CO, USA, March 8-11, 2021. ACM 2021, ISBN 978-1-4503-8289-2 [contents]
[e1]
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Cindy L. Bethel, Ana Paiva, Elizabeth Broadbent, David Feil-Seifer, Daniel Szafir:
Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2021, Boulder, CO, USA, March 8-11, 2021. ACM 2021, ISBN 978-1-4503-8290-8 [contents]
2020
[j5]
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Daniel Szafir, Krzysztof Skonieczny, Mark Woods:
Editorial: Special issue on space robotics. J. Field Robotics 37(5): 697-698 (2020)
[c33]
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Hooman Hedayati, Daniel Szafir, James Kennedy:
Comparing F-Formations Between Humans and On-Screen Agents. CHI Extended Abstracts 2020: 1-9
[c32]
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  - conf/chi/SuzukiHZBSDGL20
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Ryo Suzuki, Hooman Hedayati, Clement Zheng, James L. Bohn, Daniel Szafir, Ellen Yi-Luen Do, Mark D. Gross, Daniel Leithinger:
RoomShift: Room-scale Dynamic Haptics for VR with Furniture-moving Swarm Robots. CHI 2020: 1-11
[c31]
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  - conf/hri/0001SCKRBG20
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Tom Williams, Daniel Szafir, Tathagata Chakraborti, Soh-Khim Ong, Eric Rosen, Serena Booth, Thomas R. Groechel:
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction (VAM-HRI). HRI (Companion) 2020: 663-664
[c30]
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Hooman Hedayati, Ryo Suzuki, Daniel Leithinger, Daniel Szafir:
PufferBot: Actuated Expandable Structures for Aerial Robots. IROS 2020: 1338-1343
[c29]
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  - conf/iros/HedayatiMSA20
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Hooman Hedayati, Annika Muehlbradt, Daniel J. Szafir, Sean Andrist:
REFORM: Recognizing F-formations for Social Robots. IROS 2020: 11181-11188
[c28]
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  - conf/iros/BrooksS20
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Connor Brooks, Daniel Szafir:
Visualization of Intended Assistance for Acceptance of Shared Control. IROS 2020: 11425-11430
[i7]
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  - journals/corr/abs-2008-07615
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Hooman Hedayati, Ryo Suzuki, Daniel Leithinger, Daniel Szafir:
PufferBot: Actuated Expandable Structures for Aerial Robots. CoRR abs/2008.07615 (2020)
[i6]
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  - journals/corr/abs-2008-07668
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Hooman Hedayati, Annika Muehlbradt, Daniel J. Szafir, Sean Andrist:
REFORM: Recognizing F-formations for Social Robots. CoRR abs/2008.07668 (2020)
[i5]
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  - journals/corr/abs-2008-08695
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Ryo Suzuki, Hooman Hedayati, Clement Zheng, James L. Bohn, Daniel Szafir, Ellen Yi-Luen Do, Mark D. Gross, Daniel Leithinger:
RoomShift: Room-scale Dynamic Haptics for VR with Furniture-moving Swarm Robots. CoRR abs/2008.08695 (2020)
[i4]
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  - journals/corr/abs-2008-10759
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Connor Brooks, Daniel Szafir:
Visualization of Intended Assistance for Acceptance of Shared Control. CoRR abs/2008.10759 (2020)

2010 – 2019

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2019
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Steve McGuire, P. Michael Furlong, Terry Fong, Christoffer Heckman, Daniel Szafir, Simon J. Julier, Nisar R. Ahmed:
Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in Robotic Space Operations. IEEE Robotics Autom. Lett. 4(2): 1216-1223 (2019)
[c27]
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Hooman Hedayati, Srinjita Bhaduri, Tamara Sumner, Daniel Szafir, Mark D. Gross:
HugBot: A soft robot designed to give human-like hugs. IDC 2019: 556-561
[c26]
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Darren Guinness, Annika Muehlbradt, Daniel Szafir, Shaun K. Kane:
RoboGraphics: Dynamic Tactile Graphics Powered by Mobile Robots. ASSETS 2019: 318-328
[c25]
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Darren Guinness, Annika Muehlbradt, Daniel Szafir, Shaun K. Kane:
RoboGraphics: Using Mobile Robots to Create Dynamic Tactile Graphics. ASSETS 2019: 673-675
[c24]
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Daniel Szafir:
Mediating Human-Robot Interactions with Virtual, Augmented, and Mixed Reality. HCI (10) 2019: 124-149
[c23]
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Connor Brooks, Daniel Szafir:
Balanced Information Gathering and Goal-Oriented Actions in Shared Autonomy. HRI 2019: 85-94
[c22]
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Michael E. Walker, Hooman Hedayati, Daniel Szafir:
Robot Teleoperation with Augmented Reality Virtual Surrogates. HRI 2019: 202-210
[c21]
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Tom Williams, Daniel Szafir, Tathagata Chakraborti:
The Reality-Virtuality Interaction Cube: A Framework for Conceptualizing Mixed-Reality Interaction Design Elements for HRI. HRI 2019: 520-521
[c20]
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Hooman Hedayati, Daniel Szafir, Sean Andrist:
Recognizing F-Formations in the Open World. HRI 2019: 558-559
[c19]
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Tom Williams, Daniel Szafir, Tathagata Chakraborti, Elizabeth Phillips:
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction (VAM-HRI). HRI 2019: 671-672
[c18]
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Michael E. Walker, Daniel Szafir, Irene Rae:
The Influence of Size in Augmented Reality Telepresence Avatars. VR 2019: 538-546
[i3]
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Michael L. Iuzzolino, Michael E. Walker, Daniel Szafir:
Virtual-to-Real-World Transfer Learning for Robots on Wilderness Trails. CoRR abs/1901.05599 (2019)
[i2]
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Connor Brooks, Daniel Szafir:
Building Second-Order Mental Models for Human-Robot Interaction. CoRR abs/1909.06508 (2019)
2018
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Tom Williams, Daniel Szafir, Tathagata Chakraborti, Heni Ben Amor:
The 1st International Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interaction. AI Mag. 39(4): 64-66 (2018)
[j2]
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Steve McGuire, P. Michael Furlong, Christoffer Heckman, Simon Julier, Daniel Szafir, Nisar R. Ahmed:
Failure is Not an Option: Policy Learning for Adaptive Recovery in Space Operations. IEEE Robotics Autom. Lett. 3(3): 1639-1646 (2018)
[c17]
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Hooman Hedayati, Michael E. Walker, Daniel Szafir:
Improving Collocated Robot Teleoperation with Augmented Reality. HRI 2018: 78-86
[c16]
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Michael E. Walker, Hooman Hedayati, Jennifer Lee, Daniel Szafir:
Communicating Robot Motion Intent with Augmented Reality. HRI 2018: 316-324
[c15]
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Tom Williams, Daniel Szafir, Tathagata Chakraborti, Heni Ben Amor:
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction. HRI (Companion) 2018: 403-404
[c14]
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Daniel Prendergast, Daniel Szafir:
Improving Object Disambiguation from Natural Language using Empirical Models. ICMI 2018: 477-485
[c13]
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Michael L. Iuzzolino, Michael E. Walker, Daniel Szafir:
Virtual-to-Real-World Transfer Learning for Robots on Wilderness Trails. IROS 2018: 576-582
[c12]
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Connor Brooks, Madhur Atreya, Daniel Szafir:
Proactive Robot Assistants for Freeform Collaborative Tasks Through Multimodal Recognition of Generic Subtasks. IROS 2018: 8567-8573
[c11]
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Darren Guinness, Annika Muehlbradt, Daniel Szafir, Shaun K. Kane:
The Haptic Video Player: Using Mobile Robots to Create Tangible Video Annotations. ISS 2018: 203-211
[i1]
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Steve McGuire, Christoffer Heckman, Daniel Szafir, Simon Julier, Nisar R. Ahmed:
Extrinisic Calibration of a Camera-Arm System Through Rotation Identification. CoRR abs/1812.08280 (2018)
2017
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Daniel Szafir, Bilge Mutlu, Terrence Fong:
Designing planning and control interfaces to support user collaboration with flying robots. Int. J. Robotics Res. 36(5-7): 514-542 (2017)
[c10]
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Darren Guinness, Daniel Szafir, Shaun K. Kane:
GUI Robots: Using Off-the-Shelf Robots as Tangible Input and Output Devices for Unmodified GUI Applications. Conference on Designing Interactive Systems 2017: 767-778
[c9]
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Catherine Diaz, Michael E. Walker, Danielle Albers Szafir, Daniel Szafir:
Designing for Depth Perceptions in Augmented Reality. ISMAR 2017: 111-122
2015
[c8]
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Daniel Szafir, Bilge Mutlu, Terry Fong:
Communicating Directionality in Flying Robots. HRI 2015: 19-26
[c7]
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Allison Sauppé, Daniel Szafir, Chien-Ming Huang, Bilge Mutlu:
From 9 to 90: Engaging Learners of All Ages. SIGCSE 2015: 575-580
2014
[c6]
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Daniel Szafir:
Human interaction with assistive free-flyers. CHI Extended Abstracts 2014: 347-350
[c5]
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Daniel Szafir, Bilge Mutlu, Terrence Fong:
Communication of intent in assistive free flyers. HRI 2014: 358-365
2013
[c4]
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Kevin Ponto, Ross Tredinnick, Aaron Bartholomew, Carrie Roy, Daniel Szafir, Daniel Greenheck, Joe Kohlmann:
SculptUp: A rapid, immersive 3D modeling environment. 3DUI 2013: 199-200
[c3]
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Daniel Szafir, Bilge Mutlu:
ARTFul: adaptive review technology for flipped learning. CHI 2013: 1001-1010
2012
[c2]
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Daniel Szafir, Bilge Mutlu:
Pay attention!: designing adaptive agents that monitor and improve user engagement. CHI 2012: 11-20
2011
[c1]
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Daniel Szafir, Robert Signorile:
An Exploration of the Utilization of Electroencephalography and Neural Nets to Control Robots. INTERACT (4) 2011: 186-194

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