MK-SQuIT: Synthesizing Questions using Iterative Template-filling. - Benjamin A. Spiegel; Vincent Cheong; James E. Kaplan; Anthony Sanchez (CoRR, 2020)

Guided Policy Search for Parameterized Skills using Adverbs. - Benjamin A. Spiegel; George Konidaris 001 (CoRR, 2021)

RLang: A Declarative Language for Expression Prior Knowledge for Reinforcement Learning. - Rafael Rodríguez-Sánchez 002; Benjamin A. Spiegel; Jennifer Wang; Roma Patel; Stefanie Tellex; George Konidaris 001 (CoRR, 2022)

RLang: A Declarative Language for Describing Partial World Knowledge to Reinforcement Learning Agents. - Rafael Rodríguez-Sánchez 002; Benjamin Adin Spiegel; Jennifer Wang; Roma Patel; Stefanie Tellex; George Konidaris 001 (ICML, 2023)

Skill Generalization with Verbs. - Rachel Ma; Lyndon Lam; Benjamin A. Spiegel; Aditya Ganeshan; Roma Patel; Ben Abbatematteo; David Paulius; Stefanie Tellex; George Konidaris 001 (IROS, 2023)

Visual Theory of Mind Enables the Invention of Writing Systems. - Benjamin A. Spiegel; Lucas Gelfond; George Konidaris 001 (CoRR, 2025)