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2025 Journal: 3 Conference: 4 Workshop: 1

Journal

Robust Robotic Exploration and Mapping Using Generative Occupancy Map Synthesis

Lorin Achey, Alec Reed, Brendan Crowe, Bradley Hayes, and Christoffer Heckman
Autonomous Robots (AURO)
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Journal

Single-shot policy explanation to improve task performance via semantic reward coaching

Aaquib Tabrez, Ryan Leonard, and Bradley Hayes
Springer Nature Neural Computing and Applications: Special Issue on Explainable Sequential Decision-Making
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Journal

Iteratively Adding Latent Human Knowledge within Trajectory Optimization Specifications Improves Learning and Task Outcomes

Christine Chang, Maria Stull, Breanne Crockett, Emily Jensen, Clare Lohrmann, Mitchell Hebert, and Bradley Hayes
IEEE Robotics and Automation Letters (RA-L)
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Conference

Employing Laban Shape for Generating Emotionally and Functionally Expressive Trajectories in Robotic Manipulators

Srikrishna Bangalore Raghu, Clare Lohrmann, Akshay Bakshi, Jennifer Kim, Jose Alejandro Caraveo Herrera, Bradley Hayes, and Alessandro Roncone
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2025)
Eindhoven, Netherlands
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Conference

Model-Free Multiplexed Gradient Descent: Neuromorphic Learning in Recurrent Networks

Ryan O'Loughlin, Nicholaus Skuda, Bakhrom Oripov, Bradley Hayes, Adam McCaughan and Sonia Buckley
ACM International Conference on Neuromorphic Systems (ICONS 2025)
Seattle, USA
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Conference

Online Diffusion-Based 3D Occupancy Prediction at the Frontier with Probabilistic Map Reconciliation

Alec Reed, Lorin Achey, Brendan Crowe, Bradley Hayes, and Christoffer Heckman
IEEE International Conference on Robotics and Automation (ICRA 2025)
Atlanta, USA
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Conference

Human Demonstrations Enable Efficient Solutions to Sequential Manifold Planning Problems

Breanne Crockett*, Carl Mueller*, and Bradley Hayes
ACM/IEEE International Conference on Human-Robot Interaction (HRI 2025)
Melbourne, Australia
🏆 Sustainability Recognition (for contributions to increased computational efficiency of motion planning)
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Workshop

CRED: Counterfactual Reasoning and Environment Design for Active Preference Learning

Yi-Shiuan Tung, Bradley Hayes, and Alessandro Roncone
Workshop on Human-in-the-Loop Robot Learning- Teaching, Correcting, and Adapting at RSS 2025
Los Angeles, USA
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2024 Thesis: 4 Journal: 2 Conference: 5 Workshop: 9

Thesis

Spatially-Grounded Communication for Mental Model Alignment in Human-Robot Teams

Matthew Luebbers
Ph.D. Thesis
University of Colorado Boulder
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Thesis

Mediating Trust and Influence in Human-Robot Teams via Multimodal Communication and Explanation for Mental Model Alignment

Aaquib Tabrez
Ph.D. Thesis
University of Colorado Boulder
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Thesis

Revealing and Mitigating Harmful Assumptions and Behaviors in Human-Autonomy Teaming

Christine Chang
Ph.D. Thesis
University of Colorado Boulder
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Thesis

Adaptive Training Systems for Human-Robot Interaction

Emily Jensen
Ph.D. Thesis
University of Colorado Boulder
PDF BibTeX
Journal

A Survey of Augmented Reality for Human-Robot Collaboration

Christine Chang and Bradley Hayes
Machines
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Journal

Generating Pattern-Based Conventions for Predictable Planning in Human-Robot Collaboration

Clare Lohrmann, Maria P. Stull, Alessandro Roncone, and Bradley Hayes
ACM Transactions on Human-Robot Interaction (THRI)
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Conference

Automated Assessment and Adaptive Multimodal Formative Feedback Improves Psychomotor Skills Training Outcomes in Quadrotor Teleoperation

Emily Jensen, Sriram Sankaranarayanan, and Bradley Hayes
12th International Conference on Human-Agent Interaction (HAI 2024)
Swansea, UK
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Conference

SceneSense: Diffusion Models for 3D Occupancy Synthesis from Partial Observation

Alec Reed, Brendan Crowe, Doncey Albin, Lorin Achey, Bradley Hayes, and Christoffer Heckman
IEEE International Conference on Intelligent Robots and Systems (IROS 2024)
Abu Dhabi, UAE
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Conference

Robot Social Identity Performance Facilitates Contextually-Driven Trust Calibration and Accurate Human Assessments of Robot Capabilities

Maria P. Stull, Clare Lohrmann, and Bradley Hayes
33rd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2024)
Pasadena, CA
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Conference

Recency Bias in Task Performance History Affects Perceptions of Robot Competence and Trustworthiness

Matthew Luebbers*, Aaquib Tabrez*, Kanaka Samagna Talanki, and Bradley Hayes
International Conference on Robotics and Automation (ICRA 2024)
Yokohama, Japan
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Conference

Workspace Optimization Techniques to Improve Prediction of Human Motion During Human-Robot Collaboration

Yi-Shiuan Tung, Matthew Luebbers, Alessandro Roncone, and Bradley Hayes
ACM/IEEE International Conference on Human-Robot Interaction (HRI 2024)
Boulder, CO
🏆 Nominated for Best Technical Paper
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Workshop

Stereoscopic Virtual Reality Teleoperation for Human Robot Collaborative Dataset Collection

Yi-Shiuan Tung, Matthew B. Luebbers, Alessandro Roncone, and Bradley Hayes
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction Workshop at the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2024)
Boulder, CO, USA
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Workshop

Efficient Continuous Space BeliefMDP Solutions for Navigation and Active Sensing

Himanshu Gupta, Bradley Hayes, and Zachary Sunberg
Proceedings of the 23st International Conference on Autonomous Agents and Multi-agent Systems (AAMAS 2024)
Auckland, New Zealand
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Workshop

Causal Influence Detection for Human Robot Interaction

Yi-Shiuan Tung, Himanshu Gupta, Wei Jiang, Bradley Hayes, and Alessandro Roncone
Causal Learning for Human-Robot Interaction Workshop at ACM/IEEE International Conference on Human-Robot Interaction 2024 (HRI 2024)
Boulder, CO, USA
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Workshop

Improving Robot Predictability via Trajectory Optimization Using a Virtual Reality Testbed

Clare Lohrmann, Ethan Berg, Bradley Hayes, and Alessandro Roncone
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction Workshop at the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2024)
Boulder, CO, USA
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Workshop

The Utility of Non-Anthropomorphic Robot Identities

Maria P. Stull and Bradley Hayes
Robo-Identity Workshop at the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2024)
Boulder, CO, USA
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Workshop

Safety and Accountability for Large Language Model Use in HRI

Christine T. Chang and Bradley Hayes
Human-LLM Interaction Workshop at the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2024)
Boulder, CO, USA
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Workshop

Large Language Models Enable Automated Formative Feedback in Human-Robot Interaction Tasks

Emily Jensen, Sriram Sankaranarayanan, and Bradley Hayes
Human-LLM Interaction Workshop at the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2024)
Boulder, CO, USA
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Workshop

Autonomous Policy Explanations for Effective Human-Machine Teaming

Aaquib Tabrez and Bradley Hayes
Proceedings of the 38th AAAI Conference in Artificial Intelligence
Vancouver, Canada
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Workshop

Explainable Guidance and Justification for Mental Model Alignment in Human-Robot Teams

Matthew Luebbers and Bradley Hayes
HRI Pioneers Workshop at the ACM/IEEE International Conference on Human-Robot Interaction
Boulder, CO
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2023 Thesis: 2 Conference: 3 Workshop: 5

Thesis

Reliable Autonomy at the Intersection of Constrained Motion Planning, Learning from Demonstration, and Augmented Reality

Carl Mueller
Ph.D. Thesis
University of Colorado Boulder
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Thesis

Breaking the Tie: Evaluating Human Preferences in Reinforcement Learning

Tuhina Tripathi
Masters Thesis
University of Colorado Boulder
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Conference

Autonomous Justification for Enabling Explainable Decision Support in Human-Robot Teaming

Matthew Luebbers*, Aaquib Tabrez*, Kyler Ruvane, and Bradley Hayes
Robotics Science and Systems (RSS 2023)
Daegu, Korea
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Human Non-Compliance with Robot Spatial Ownership Communicated via Augmented Reality: Implications for Human-Robot Teaming Safety
Conference

Human Non-Compliance with Robot Spatial Ownership Communicated via Augmented Reality: Implications for Human-Robot Teaming Safety

Christine Chang, Matthew Luebbers, Mitchell Herbert, and Bradley Hayes
International Conference on Robotics and Automation (ICRA 2023)
London, UK
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Conference

ShelfHelp: Empowering Humans to Perform Vision-Independent Manipulation Tasks with a Socially Assistive Robotic Cane

Shivendra Agrawal, Suresh Nayak, Ashutosh Naik, and Bradley Hayes
International Conference on Autonomous Agents and Multi-agent Systems (AAMAS 2023)
London, UK
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Workshop

Towards A Natural Language Interface for Flexible Multi-Agent Task Assignment

Jake Brawer, Kayleigh Bishop, Bradley Hayes, and Alessandro Roncone
AAAI Fall Symposium Series
Arlington, VA
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Workshop

Augmented Reality and Proxy Grippers Improve Demonstration-based Robot Skill Learning

Carl Mueller, Matthew Luebbers, Aaquib Tabrez, and Bradley Hayes
Workshop on Life-Long Learning with Human Help (L3H2 2023)
London, UK
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Workshop

Effective Human-in-the-loop Control Handover via Confidence-Aware Autonomy

Breanne Crockett, Kyler Ruvane, Matthew Luebbers, and Bradley Hayes
Workshop on Life-Long Learning with Human Help (L3H2 2023)
London, UK
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Workshop

Improving Human Legibility in Collaborative Robot Tasks through Augmented Reality and Workspace Preparation

Yi-Shiuan Tung, Matthew B. Luebbers, Alessandro Roncone, and Bradley Hayes
Workshop on on Virtual, Augmented, and Mixed Reality for Human-Robot Interaction at the ACM/IEEE International Conference on Human-Robot Interaction
Stockholm, Sweden
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Workshop

More Than a Number: A Multi-dimensional Framework For Automatically Assessing Human Teleoperation Skill

Emily Jensen, Bradley Hayes, and Sriram Sankaranarayanan
Human-Robot Interaction Late-Breaking Reports (HRI 2023)
Stockholm, Sweden
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2022 Thesis: 2 Journal: 2 Conference: 4 Workshop: 3

Thesis

Autonomous Navigation Among Dynamic Obstacles

Himanshu Gupta
Masters Thesis
University of Colorado Boulder
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Thesis

Preference in Inverse Reinforcement Learning: What Does It Mean?

Xinyu Cao
Masters Thesis
University of Colorado Boulder
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Journal

PokeRRT: Poking as a Skill and Failure Recovery Tactic for Planar Non-Prehensile Manipulation

Anuj Pasricha, Yi-Shiuan Tung, Bradley Hayes, and Alessandro Roncone
IEEE Robotics and Automation Letters (RA-L)
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Journal

A Survey of Augmented Reality for Human-Robot Collaboration

Christine Chang and Bradley Hayes
In Submission
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Conference

Descriptive and Prescriptive Visual Guidance to Improve Shared Situational Awareness in Human-Robot Teaming

Matthew Luebbers*, Aaquib Tabrez*, and Bradley Hayes
Proceedings of the 21st International Conference on Autonomous Agents and Multi-agent Systems (AAMAS 2022)
Virtual
🏆 Best Student Paper Runner-up
PDF BibTeX
Conference

Intention-Aware Navigation in Crowds with Extended-Space POMDP Planning

Himanshu Gupta, Bradley Hayes, and Zachary Sunberg
Proceedings of the 21st International Conference on Autonomous Agents and Multi-agent Systems (AAMAS 2022)
Virtual
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Conference

Bilevel Optimization for Just-in-Time Robotic Kitting and Delivery via Adaptive Task Segmentation and Scheduling

Yi-Shiuan Tung, Kayleigh Bishop, Bradley Hayes, and Alessandro Roncone
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2022)
Naples, Italy
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Conference

A Novel Perceptive Robotic Cane with Haptic Navigation for Enabling Vision-Independent Participation in the Social Dynamics of Seat Choice

Shivendra Agrawal, Mary Etta West, and Bradley Hayes
IEEE International Conference on Intelligent Robots and Systems (IROS 2022)
Kyoto, Japan
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Workshop

ShelfHelp: Empowering Humans to Perform Vision-Independent Manipulation Tasks with a Socially Assistive Robotic Cane

Shivendra Agrawal and Bradley Hayes
Social and Cognitive Interactions for Assistive Robotics (SCIAR) workshop, IROS 2022
Kyoto, Japan
PDF BibTeX
Workshop

Mediating Trust and Influence in Human-Robot Interaction via Explainable AI

Aaquib Tabrez and Bradley Hayes
RSS Pioneers Workshop at Robotics: Science and Systems (RSS 2022)
New York City, New York
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Workshop

Augmented Reality-Based Explainable AI Strategies for Establishing Appropriate Reliance and Trust in Human-Robot Teaming

Matthew Luebbers*, Aaquib Tabrez*, and Bradley Hayes
Workshop on on Virtual, Augmented, and Mixed Reality for Human-Robot Interaction at the ACM/IEEE International Conference on Human-Robot Interaction
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2021 Conference: 2 Workshop: 3

Conference

Asking the Right Questions: Facilitating Semantic Constraint Specification for Robot Skill Learning and Repair

Aaquib Tabrez*, Jack Kawell*, and Bradley Hayes
Proceedings of the International Conference on Intelligent Robots and Systems (IROS 2021)
Virtual
PDF BibTeX Talk
Conference

ARC-LfD: Using Augmented Reality for Interactive Long-Term Robot Skill Maintenance via Constrained Learning from Demonstration

Matthew Luebbers, Connor Brooks, Carl Mueller, Daniel Szafir, and Bradley Hayes
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2021)
Xi'an, China (+Virtual)
PDF BibTeX Talk
Workshop

Robot Behavior Counterfactuals for Interactive Constrained Learning from Demonstration

Carl Mueller, Aaquib Tabrez, and Bradley Hayes
Proceedings of the "Accessibility of Robot Programming and Work of the Future" Workshop at RSS 2021
Virtual
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Workshop

Emerging Autonomy Solutions for Human and Robotic Deep Space Exploration

Christine Chang*, Jordan Dixon*, Matthew Luebbers*, Aaquib Tabrez*, and Bradley Hayes
Proceedings of the SpaceCHI Workshop at CHI 2021
Virtual
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Workshop

Teaching grounded reading skills via an interactive robot tutor

Kaleb Bishop, Bradley Hayes, and Alessandro Roncone
Robots for Learning – Learner-Centered Design Workshop at the International Conference on Human-Robot Interaction
Virtual
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2020 Journal: 1 Workshop: 5

Journal

A Survey of Mental Modeling Techniques in Human-Robot Teaming

Aaquib Tabrez, Matthew Luebbers, and Bradley Hayes
Springer-Nature Current Robotics Reports
PDF BibTeX
Workshop

Trustworthy Human-Centered Automation through Explainable AI and High-Fidelity Simulation

Bradley Hayes and Michael Moniz
11th International Conference on Applied Human Factors and Ergonomics (AHFE 2020)
San Diego, CA
BibTeX
Workshop

Automated Failure-Mode Clustering and Labeling for Informed Car-To-Driver Handover in Autonomous Vehicles

Aaquib Tabrez, Matthew Luebbers, and Bradley Hayes
Proceedings of Workshop on Assessing, Explaining, and Conveying Robot Proficiency for Human-Robot Teaming at HRI 2020.
Cambridge, UK
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Workshop

Safe and Robust Robot Learning from Demonstration through Conceptual Constraints

Carl Mueller and Bradley Hayes
Proceedings of HRI Pioneers Workshop at HRI 2020.
Cambridge, UK
PDF BibTeX
Workshop

Iterative Reward Learning for Robotic Exploration

Aastha Acharya, Shohei Wakayama, Bradley Hayes, and Nisar Ahmed
Proceedings of the AIAA Scitech 2020 Forum
Orlando, FL
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Workshop

Abstract Constraints for Safe and Robust Robot Learning from Demonstration

Carl Mueller and Bradley Hayes
Proceedings of the 34th AAAI Conference in Artificial Intelligence
New York City, NY
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2019 Conference: 2 Workshop: 2

Conference

Fast Online Segmentation of Activities from Partial Trajectories

Tariq Iqbal, Shen Li, Christopher Fourie, Bradley Hayes, and Julie A. Shah
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2019)
Montreal, Canada
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Conference

Explanation-based Reward Coaching to Improve Human Performance via Reinforcement Learning

Aaquib Tabrez, Shivendra Agrawal, and Bradley Hayes
2019 ACM/IEEE International Conference on Human Robot Interaction (HRI 2019)
Daegu, Korea
🏆 Best Technical Paper Runner-up
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Workshop

Improving Human-Robot Interaction through Explainable Reinforcement Learning

Aaquib Tabrez and Bradley Hayes
HRI Pioneers Workshop at the 2019 ACM/IEEE International Conference on Human Robot Interaction (HRI 2019)
Daegu, South Korea
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Workshop

Augmented Reality Interface for Constrained Learning from Demonstration

Matthew Beck Luebbers, Connor Brooks, Minjae John Kim, Daniel Szafir, and Bradley Hayes
Second International Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interaction at the ACM/IEEE International Conference on Human-Robot Interaction
Daegu, South Korea
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2018 Journal: 1 Conference: 1

Journal

Robotic Assistance in Coordination of Patient Care

Matthew Gombolay, Jessie Yang, Bradley Hayes, Nicole Seo, Zixi Liu, Samir Wadhwania, Tania Yu, Neel Shah, Toni Golen, and Julie Shah
International Journal of Robotics Research (IJRR)
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Conference

Robust Robot Learning from Demonstration and Skill Repair Using Conceptual Constraints

Carl Mueller, Jeff Venicx, and Bradley Hayes
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Madrid, Spain
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2017 Conference: 2

Conference

Interpretable Models for Fast Activity Recognition and Anomaly Explanation During Collaborative Robotics Tasks

Bradley Hayes and Julie Shah
IEEE International Conference on Robotics and Automation (ICRA 2017)
Singapore
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Conference

Improving Robot Controller Transparency Through Autonomous Policy Explanation

Bradley Hayes and Julie Shah
ACM/IEEE International Conference on Human-Robot Interaction (HRI 2017)
Vienna, Austria
PDF BibTeX