Authoring and Verifying Human-Robot Interactions. - David Porfirio; Allison Sauppé; Aws Albarghouthi; Bilge Mutlu (UIST, 2018)

Computational Tools for Human-Robot Interaction Design. - David Porfirio; Allison Sauppé; Aws Albarghouthi; Bilge Mutlu (HRI, 2019)

Bodystorming Human-Robot Interactions. - David Porfirio; Evan Fisher; Allison Sauppé; Aws Albarghouthi; Bilge Mutlu (UIST, 2019)

Transforming Robot Programs Based on Social Context. - David Porfirio; Allison Sauppé; Aws Albarghouthi; Bilge Mutlu (CHI, 2020)

Figaro: A Tabletop Authoring Environment for Human-Robot Interaction. - David J. Porfirio; Laura Stegner; Maya Cakmak; Allison Sauppé; Aws Albarghouthi; Bilge Mutlu (CHI, 2021)

Participatory Design and End-User Programming for Human-Robot Interaction. - Emmanuel Senft; David J. Porfirio; Katie Winkle (HRI, 2022)

PD/EUP Workshop Proceedings. - Emmanuel Senft; David Porfirio; Katie Winkle (CoRR, 2022)

Crowdsourcing Task Traces for Service Robotics. - David Porfirio; Allison Sauppé; Maya Cakmak; Aws Albarghouthi; Bilge Mutlu (HRI (Companion), 2023)

Sketching Robot Programs On the Fly. - David Porfirio; Laura Stegner; Maya Cakmak; Allison Sauppé; Aws Albarghouthi; Bilge Mutlu (HRI, 2023)

Guidelines for a Human-Robot Interaction Specification Language. - David Porfirio; Mark Roberts; Laura M. Hiatt (RO-MAN, 2023)

Understanding On-the-Fly End-User Robot Programming. - Laura Stegner; Yuna Hwang; David Porfirio; Bilge Mutlu (Conference on Designing Interactive Systems, 2024)

Goal-Oriented End-User Programming of Robots. - David Porfirio; Mark Roberts; Laura M. Hiatt (HRI, 2024)

End-User Development for Human-Robot Interaction. - Laura Stegner; David Porfirio; Laura M. Hiatt; Séverin Lemaignan; Ross Mead; Bilge Mutlu (HRI (Companion), 2024)

Designing Human-Robot Interactions: A StEER Tutorial. - Hannah R. M. Pelikan; Katie Winkle; David Porfirio (NordiCHI (Adjunct), 2024)

Considerations for End-User Development in the Caregiving Domain. - Laura Stegner; David Porfirio; Mark Roberts; Laura M. Hiatt (CoRR, 2024)

VeriPlan: Integrating Formal Verification and LLMs into End-User Planning. - Christine P. Lee; David Porfirio; Xinyu Jessica Wang; Kevin Chenkai Zhao; Bilge Mutlu (CHI, 2025)

An Interaction Specification Language for Robot Application Development. - David Porfirio; Mark Roberts; Laura M. Hiatt (HRI, 2025)

Uncertainty Expression for Human-Robot Task Communication. - David Porfirio; Mark Roberts; Laura M. Hiatt (AAMAS, 2025)

Bootstrapping Human-Like Planning via LLMs. - David Porfirio; Vincent Hsiao; Morgan Fine-Morris; Leslie Smith; Laura M. Hiatt (CoRR, 2025)