Monetary-Incentive Competition Between Humans and Robots: Experimental Results. - Alap Kshirsagar; Bnaya Dreyfuss; Guy Ishai; Ori Heffetz; Guy Hoffman (HRI, 2019)

Specifying and Synthesizing Human-Robot Handovers. - Alap Kshirsagar; Hadas Kress-Gazit; Guy Hoffman (IROS, 2019)

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

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

Empowering Robots for Object Handovers. - Alap Kshirsagar; Guy Hoffman (HRI, 2022)

Timing-Specified Controllers with Feedback for Human-Robot Handovers. - Alap Kshirsagar; Rahul Kumar Ravi; Hadas Kress-Gazit; Guy Hoffman (RO-MAN, 2022)

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

A Human-Centered Safe Robot Reinforcement Learning Framework with Interactive Behaviors. - Shangding Gu; Alap Kshirsagar; Yali Du 001; Guang Chen 001; Yaodong Yang 001; Jan Peters 001; Alois C. Knoll (CoRR, 2023)

A human-centered safe robot reinforcement learning framework with interactive behaviors. - Shangding Gu; Alap Kshirsagar; Yali Du 001; Guang Chen 001; Jan Peters 001; Alois Knoll (Frontiers Neurorobotics, 2023)

Task-Adapted Single-Finger Explorations of Complex Objects. - Lisa Pui Yee Lin; Alina Böhm; Boris Belousov; Alap Kshirsagar; Tim Schneider; Jan Peters 001; Katja Doerschner; Knut Drewing (EuroHaptics (1), 2024)

Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers. - Yasemin Göksu; Antonio De Almeida Correia; Vignesh Prasad; Alap Kshirsagar; Dorothea Koert; Jan Peters 001; Georgia Chalvatzaki (HRI (Companion), 2024)

Transition State Clustering for Interaction Segmentation and Learning. - Fabian Hahne; Vignesh Prasad; Alap Kshirsagar; Dorothea Koert; Ruth Maria Stock-Homburg; Jan Peters 001; Georgia Chalvatzaki (HRI (Companion), 2024)

3rd Workshop on Human-Interactive Robot Learning (HIRL). - Mattia Racca; Reuth Mirsky; Emmanuel Senft; Xuesu Xiao; Ifrah Idrees; Alap Kshirsagar; Ravi Prakash 002 (HRI (Companion), 2024)

What Matters for Active Texture Recognition With Vision-Based Tactile Sensors. - Alina Böhm; Tim Schneider; Boris Belousov; Alap Kshirsagar; Lisa Pui Yee Lin; Katja Doerschner; Knut Drewing; Constantin A. Rothkopf; Jan Peters 001 (ICRA, 2024)

TacEx: GelSight Tactile Simulation in Isaac Sim - Combining Soft-Body and Visuotactile Simulators. - Duc Huy Nguyen; Tim Schneider; Guillaume Duret; Alap Kshirsagar; Boris Belousov; Jan R. Peters (CoRR, 2024)

MoVEInt: Mixture of Variational Experts for Learning Human-Robot Interactions From Demonstrations. - Vignesh Prasad; Alap Kshirsagar; Dorothea Koert; Ruth Stock-Homburg; Jan Peters 001; Georgia Chalvatzaki (IEEE Robotics Autom. Lett., 2024)

ROSCOM: Robust Safe Reinforcement Learning on Stochastic Constraint Manifolds. - Shangding Gu; Puze Liu; Alap Kshirsagar; Guang Chen 001; Jan Peters 001; Alois Knoll (IEEE Trans Autom. Sci. Eng., 2025)

Investigating Active Sampling for Hardness Classification with Vision-Based Tactile Sensors. - Junyi Chen; Alap Kshirsagar; Frederik Heller; Mario Gomez Andreu; Boris Belousov; Tim Schneider; Lisa Pui Yee Lin; Katja Doerschner; Knut Drewing; Jan Peters 001 (CoRR, 2025)

In-Hand Object Pose Estimation via Visual-Tactile Fusion. - Felix Nonnengießer; Alap Kshirsagar; Boris Belousov; Jan Peters 001 (CoRR, 2025)