Robot's play: interactive games with sociable machines. - Andrew G. Brooks; Jesse Gray; Guy Hoffman (Advances in Computer Entertainment Technology, 2004)

Robots that Work in Collaboration with People. - Guy Hoffman; Cynthia Breazeal (AAAI Technical Report (5), 2004)

Teaching and Working with Robots as a Collaboration. - Cynthia Breazeal; Guy Hoffman; Andrea Lockerd (AAMAS, 2004)

Working collaboratively with humanoid robots. - Cynthia Breazeal; Andrew G. Brooks; David Chilongo; Jesse Gray; Guy Hoffman; Cory D. Kidd; Hans Lee; Jeff Lieberman; Andrea Lockerd (Humanoids, 2004)

Robot's play: interactive games with sociable machines. - Andrew G. Brooks; Jesse Gray; Guy Hoffman; Andrea Lockerd; Hans Lee; Cynthia Breazeal (Comput. Entertain., 2004)

Tutelage and Collaboration for Humanoid Robots. - Cynthia Breazeal; Andrew G. Brooks; Jesse Gray; Guy Hoffman; Cory D. Kidd; Hans Lee; Jeff Lieberman; Andrea Lockerd; David Chilongo (Int. J. Humanoid Robotics, 2004)

Effects of nonverbal communication on efficiency and robustness in human-robot teamwork. - Cynthia Breazeal; Cory D. Kidd; Andrea Lockerd Thomaz; Guy Hoffman; Matt Berlin (IROS, 2005)

What Lies Ahead? Expectation Management in Human-Robot Collaboration. - Guy Hoffman; Cynthia Breazeal (AAAI Spring Symposium: To Boldly Go Where No Human-Robot Team Has Gone Before, 2006)

Experiments in socially guided machine learning: understanding how humans geach. - Andrea Lockerd Thomaz; Guy Hoffman; Cynthia Breazeal (HRI, 2006)

Reinforcement Learning with Human Teachers: Understanding How People Want to Teach Robots. - Andrea Lockerd Thomaz; Guy Hoffman; Cynthia Breazeal (RO-MAN, 2006)

Effects of anticipatory action on human-robot teamwork efficiency, fluency, and perception of team. - Guy Hoffman; Cynthia Breazeal (HRI, 2007)

Time bracketing study: stata latin. - Guy Hoffman (SIGGRAPH Art Gallery, 2007)

Cost-Based Anticipatory Action Selection for Human-Robot Fluency. - Guy Hoffman; Cynthia Breazeal (IEEE Trans. Robotics, 2007)

Anticipatory Perceptual Simulation for Human-Robot Joint Practice: Theory and Application Study. - Guy Hoffman; Cynthia Breazeal (AAAI, 2008)

Achieving fluency through perceptual-symbol practice in human-robot collaboration. - Guy Hoffman; Cynthia Breazeal (HRI, 2008)

A hybrid control system for puppeteering a live robotic stage actor. - Guy Hoffman; Rony Kubat; Cynthia Breazeal (RO-MAN, 2008)

Shimon + ZOOZbeat: an improvising robot musician you can jam with. - Gil Weinberg; Guy Hoffman; Ryan Nikolaidis; Roberto Aimi (SIGGRAPH ASIA Art Gallery & Emerging Technologies, 2009)

Anticipation in Human-Robot Interaction. - Guy Hoffman (AAAI Spring Symposium: It's All in the Timing, 2010)

Shimon: an interactive improvisational robotic marimba player. - Guy Hoffman; Gil Weinberg (CHI Extended Abstracts, 2010)

Gesture-based human-robot Jazz improvisation. - Guy Hoffman; Gil Weinberg (ICRA, 2010)

Synchronization in human-robot Musicianship. - Guy Hoffman; Gil Weinberg (RO-MAN, 2010)

Effects of anticipatory perceptual simulation on practiced human-robot tasks. - Guy Hoffman; Cynthia Breazeal (Auton. Robots, 2010)

Interactive improvisation with a robotic marimba player. - Guy Hoffman; Gil Weinberg (Auton. Robots, 2011)

Dumb robots, smart phones: A case study of music listening companionship. - Guy Hoffman (RO-MAN, 2012)

Embodied Cognition for Autonomous Interactive Robots. - Guy Hoffman (Top. Cogn. Sci., 2012)

In-car game design for children: child vs. parent perspective. - Guy Hoffman; Ayelet Gal-Oz; Shlomi David; Oren Zuckerman (IDC, 2013)

Effects of robotic companionship on music enjoyment and agent perception. - Guy Hoffman; Keinan Vanunu (HRI, 2013)

Robot responsiveness to human disclosure affects social impression and appeal. - Guy Hoffman; Gurit E. Birnbaum; Keinan Vanunu; Omri Sass; Harry T. Reis (HRI, 2014)

Timing in human-robot interaction. - Guy Hoffman; Maya Cakmak; Crystal Chao (HRI, 2014)

In-car game design for children: Promoting interactions inside and outside the car. - Oren Zuckerman; Guy Hoffman; Ayelet Gal-Oz (Int. J. Child Comput. Interact., 2014)

Designing robots with movement in mind. - Guy Hoffman; Wendy Ju (J. Hum. Robot Interact., 2014)

Designing Fluent Human-Robot Collaboration. - Guy Hoffman (HAI, 2015)

Robot Presence and Human Honesty: Experimental Evidence. - Guy Hoffman; Jodi Forlizzi; Shahar Ayal; Aaron Steinfeld; John Antanitis; Guy Hochman; Eric Hochendoner; Justin Finkenaur (HRI, 2015)

Design and Evaluation of a Peripheral Robotic Conversation Companion. - Guy Hoffman; Oren Zuckerman; Gilad Hirschberger; Michal Luria; Tal Shani-Sherman (HRI, 2015)

Mirror Puppeteering: Animating Toy Robots in Front of a Webcam. - Ronit Slyper; Guy Hoffman; Ariel Shamir (TEI, 2015)

Empathy Objects: Robotic Devices as Conversation Companions. - Oren Zuckerman; Guy Hoffman (TEI, 2015)

Emotionally expressive dynamic physical behaviors in robots. - Mason Bretan; Guy Hoffman; Gil Weinberg (Int. J. Hum. Comput. Stud., 2015)

OpenWoZ: A Runtime-Configurable Wizard-of-Oz Framework for Human-Robot Interaction. - Guy Hoffman (AAAI Spring Symposia, 2016)

Boosting Children's Creativity through Creative Interactions with Social Robots. - Patrícia Alves-Oliveira; Patrícia Arriaga; Guy Hoffman; Ana Paiva 001 (HRI, 2016)

Machines as a Source of Consolation: Robot Responsiveness Increases Human Approach Behavior and Desire for Companionship. - Gurit E. Birnbaum; Moran Mizrahi 002; Guy Hoffman; Harry T. Reis; Eli J. Finkel; Omri Sass (HRI, 2016)

Studying the Opposing Effects of Robot Presence on Human Corruption. - Michal Roizman; Guy Hoffman; Shahar Ayal; Guy Hochman; Michal Reifen Tagar; Yossi Maaravi (HRI, 2016)

Design Skills for HRI. - David Sirkin; Nik Martelaro; Hamish Tennent; Mishel Johns; Brian K. Mok; Wendy Ju; Guy Hoffman; Heather Knight; Bilge Mutlu; Leila Takayama (HRI, 2016)

Let's be honest: A controlled field study of ethical behavior in the presence of a robot. - Jodi Forlizzi; Thidanun Saensuksopa; Natalie Salaets; Mike Shomin; Tekin Meriçli; Guy Hoffman (RO-MAN, 2016)

Designing Vyo, a robotic Smart Home assistant: Bridging the gap between device and social agent. - Michal Luria; Guy Hoffman; Benny Megidish; Oren Zuckerman; Sung Park (RO-MAN, 2016)

KIP3: Robotic Companion as an External Cue to Students with ADHD. - Oren Zuckerman; Guy Hoffman; Daphne Kopelman-Rubin; Anat Brunstein Klomek; Noa Shitrit; Yahav Amsalem; Yaron Shlomi (TEI, 2016)

What robots can teach us about intimacy: The reassuring effects of robot responsiveness to human disclosure. - Gurit E. Birnbaum; Moran Mizrahi 002; Guy Hoffman; Harry T. Reis; Eli J. Finkel; Omri Sass (Comput. Hum. Behav., 2016)

Computational Human-Robot Interaction. - Andrea Thomaz; Guy Hoffman; Maya Çakmak (Found. Trends Robotics, 2016)

Robotic experience companionship in music listening and video watching. - Guy Hoffman; Shira Bauman; Keinan Vanunu (Pers. Ubiquitous Comput., 2016)

YOLO, a Robot for Creativity: A Co-Design Study with Children. - Patrícia Alves-Oliveira; Patrícia Arriaga; Ana Paiva 001; Guy Hoffman (IDC, 2017)

Comparing Social Robot, Screen and Voice Interfaces for Smart-Home Control. - Michal Luria; Guy Hoffman; Oren Zuckerman (CHI, 2017)

Animating Mechanisms: A Pipeline for Authoring Robot Gestures. - Benny Megidish; Oren Zuckerman; Guy Hoffman (HRI (Companion), 2017)

Wearing your arm on your sleeve: Studying usage contexts for a wearable robotic forearm. - Vighnesh Vatsal; Guy Hoffman (RO-MAN, 2017)

Blossom: A Tensile Social Robot Design with a Handcrafted Shell (Demo Abstract). - Michael Suguitan; Guy Hoffman (HRI (Companion), 2018)

Blossom: A Tensile Social Robot Design with a Handcrafted Shell. - Michael Suguitan; Guy Hoffman (HRI (Companion), 2018)

At Arm's Length: Challenges in Building a Wearable Robotic Forearm for Human-Robot Collaboration. - Vighnesh Vatsal; Guy Hoffman (HRI (Companion), 2018)

A Wearable Robotic Forearm for Human-Robot Collaboration. - Vighnesh Vatsal; Guy Hoffman (HRI (Companion), 2018)

Design and Analysis of a Wearable Robotic Forearm. - Vighnesh Vatsal; Guy Hoffman (ICRA, 2018)

The Greeting Machine: An Abstract Robotic Object for Opening Encounters. - Lucy Anderson-Bashan; Benny Megidish; Hadas Erel; Iddo Wald; Guy Hoffman; Oren Zuckerman; Andrey Grishko (RO-MAN, 2018)

Soft skin texture modulation for social robotics. - Yuhan Hu; Zhengnan Zhao; Abheek Vimal; Guy Hoffman (RoboSoft, 2018)

Negotiating the Creative Space in Human-Robot Collaborative Design. - Matthew V. Law; Jihyun Jeong; Amritansh Kwatra; Malte F. Jung; Guy Hoffman (Conference on Designing Interactive Systems, 2019)

Active Attention-Modified Policy Shaping: Socially Interactive Agents Track. - Taylor Kessler Faulkner; Reymundo A. Gutierrez; Elaine Schaertl Short; Guy Hoffman; Andrea Lockerd Thomaz (AAMAS, 2019)

Using Skin Texture Change to Design Emotion Expression in Social Robots. - Yuhan Hu; Guy Hoffman (HRI, 2019)

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

Affective Robot Movement Generation Using CycleGANs. - Michael Suguitan; Mason Bretan; Guy Hoffman (HRI, 2019)

SMT-Based Control and Feedback for Social Navigation. - Thais Campos; Adam Pacheck; Guy Hoffman; Hadas Kress-Gazit (ICRA, 2019)

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

Home robotic devices for older adults: Opportunities and concerns. - Inbal Deutsch; Hadas Erel; Michal Paz; Guy Hoffman; Oren Zuckerman (Comput. Hum. Behav., 2019)

Verification and Synthesis of Human-Robot Interaction (Dagstuhl Seminar 19081). - Rachid Alami 001; Kerstin I. Eder; Guy Hoffman; Hadas Kress-Gazit (Dagstuhl Reports, 2019)

Evaluating Fluency in Human-Robot Collaboration. - Guy Hoffman (IEEE Trans. Hum. Mach. Syst., 2019)

Blossom: A Handcrafted Open-Source Robot. - Michael Suguitan; Guy Hoffman (ACM Trans. Hum. Robot Interact., 2019)

YOLO - Your Own Living Object. - Patrícia Alves-Oliveira; Patrícia Arriaga; Ana Paiva 001; Guy Hoffman (HRI (Companion), 2020)

MoveAE: Modifying Affective Robot Movements Using Classifying Variational Autoencoders. - Michael Suguitan; Randy Gomez; Guy Hoffman (HRI, 2020)

Demonstrating MoveAE: Modifying Affective Robot Movements Using Classifying Variational Autoencoders. - Michael Suguitan; Randy Gomez; Guy Hoffman (HRI (Companion), 2020)

Design Intention Inference for Virtual Co-Design Agents. - Matthew V. Law; Amritansh Kwatra; Nikhil Dhawan; Matthew Einhorn; Amit Rajesh; Guy Hoffman (IVA, 2020)

The Social Uncanniness of Robotic Companions. - Guy Hoffman (Robophilosophy, 2020)

Face-work for Human-Agent Joint Decision-Making. - Jihyun Jeong; Guy Hoffman (CoRR, 2020)

Analytical Inverse Kinematics for a 5-DoF Robotic Arm with a Prismatic Joint. - Vighnesh Vatsal; Guy Hoffman (CoRR, 2020)

Privacy-Preserving Pose Estimation for Human-Robot Interaction. - Youya Xia; Yifan Tang; Yuhan Hu; Guy Hoffman (CoRR, 2020)

Lessons From Joint Improvisation Workshops for Musicians and Robotics Engineers. - Anthonia Carter; Marianthi Papalexandri-Alexandri; Guy Hoffman (Frontiers Robotics AI, 2020)

ShadowSense: Detecting Human Touch in a Social Robot Using Shadow Image Classification. - Yuhan Hu; Sara Maria Bejarano; Guy Hoffman (Proc. ACM Interact. Mob. Wearable Ubiquitous Technol., 2020)

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

Software architecture for YOLO, a creativity-stimulating robot. - Patrícia Alves-Oliveira; Samuel Gomes; Ankita Chandak; Patrícia Arriaga; Guy Hoffman; Ana Paiva 001 (SoftwareX, 2020)

What Robots Need From Clothing. - Natalie Friedman; Kari Love; Ray LC; Jenny E. Sabin; Guy Hoffman; Wendy Ju (Conference on Designing Interactive Systems, 2021)

Hammers for Robots: Designing Tools for Reinforcement Learning Agents. - Matthew V. Law; Zhilong Li; Amit Rajesh; Nikhil Dhawan; Amritansh Kwatra; Guy Hoffman (Conference on Designing Interactive Systems, 2021)

You Are (Not) The Robot: Variable Perspective Motion Control of a Social Telepresence Robot. - Michael Suguitan; Guy Hoffman (CHI Extended Abstracts, 2021)

Children as Robot Designers. - Patrícia Alves-Oliveira; Patrícia Arriaga; Ana Paiva 001; Guy Hoffman (HRI, 2021)

Formalizing and guaranteeing human-robot interaction. - Hadas Kress-Gazit; Kerstin Eder; Guy Hoffman; Henny Admoni; Brenna Argall; Rüdiger Ehlers; Christoffer Heckman; Nils Jansen 001; Ross A. Knepper; Jan Kretínský; Shelly Levy-Tzedek; Jamy Li; et al. (Commun. ACM, 2021)

Human-human-robot interaction: robotic object's responsive gestures improve interpersonal evaluation in human interaction. - Danielle Rifinski; Hadas Erel; Adi Feiner; Guy Hoffman; Oren Zuckerman (Hum. Comput. Interact., 2021)

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

Biomechanical Motion Planning for a Wearable Robotic Forearm. - Vighnesh Vatsal; Guy Hoffman (IEEE Robotics Autom. Lett., 2021)

The Wearable Robotic Forearm: Design and Predictive Control of a Collaborative Supernumerary Robot. - Vighnesh Vatsal; Guy Hoffman (Robotics, 2021)

A Primer for Conducting Experiments in Human-Robot Interaction. - Guy Hoffman; Xuan Zhao 010 (ACM Trans. Hum. Robot Interact., 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)

Touchibo: Multimodal Texture-Changing Robotic Platform for Shared Human Experiences. - Yuhan Hu; Isabel Neto; Jin Ryu; Ali Shtarbanov; Hugo Nicolau; Ana Paiva 001; Guy Hoffman (UIST (Adjunct Volume), 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)

Nudging or Waiting?: Automatically Synthesized Robot Strategies for Evacuating Noncompliant Users in an Emergency Situation. - Yuhan Hu; Jin Ryu; David Gundana; Kirstin H. Petersen; Hadas Kress-Gazit; Guy Hoffman (HRI, 2023)

What Can a Robot's Skin Be? Designing Texture-changing Skin for Human-Robot Social Interaction. - Yuhan Hu; Guy Hoffman (ACM Trans. Hum. Robot Interact., 2023)

Introduction to the Special Issue on "Designing the Robot Body: Critical Perspectives on Affective Embodied Interaction". - Mark Paterson; Guy Hoffman; Caroline Yan Zheng (ACM Trans. Hum. Robot Interact., 2023)

What is it like to be a bot? Variable perspective embodied telepresence for crowdsourcing robot movements. - Michael Suguitan; Guy Hoffman (Pers. Ubiquitous Comput., 2023)

Designing Plant-Driven Actuators for Robots to Grow, Age, and Decay. - Yuhan Hu; Jasmine Lu; Nathan Scinto-Madonich; Miguel Alfonso Pineros; Pedro Lopes 001; Guy Hoffman (Conference on Designing Interactive Systems, 2024)

Build Your Own Robot Friend: An Open-Source Learning Module for Accessible and Engaging AI Education. - Zhonghao Shi; Amy O'Connell; Zongjian Li; Siqi Liu; Jennifer Ayissi; Guy Hoffman; Mohammad Soleymani 001; Maja J. Mataric (AAAI, 2024)

Conveying Emotions through Shape-changing to Children with and without Visual Impairment. - Isabel Neto; Yuhan Hu; Filipa Correia; Filipa Rocha; Guy Hoffman; Hugo Nicolau; Ana Paiva 001 (CHI, 2024)

"I'm Not Touching You. It's The Robot!": Inclusion Through A Touch-Based Robot Among Mixed-Visual Ability Children. - Isabel Neto; Yuhan Hu; Filipa Correia; Filipa Rocha; João Nogueira; Katharina Buckmayer; Guy Hoffman; Hugo Nicolau; Ana Paiva 001 (HRI, 2024)

Performing Human Shadow Detection for Camera-Based Privacy-Preserving Human-Robot Interactions. - Yuhan Hu; Prishita Ray; Guy Hoffman (RO-MAN, 2024)

Inferring Human Intent and Predicting Human Action in Human-Robot Collaboration. - Guy Hoffman; Tapomayukh Bhattacharjee; Stefanos Nikolaidis (Annu. Rev. Control. Robotics Auton. Syst., 2024)

Build Your Own Robot Friend: An Open-Source Learning Module for Accessible and Engaging AI Education. - Zhonghao Shi; Allison O'Connell; Zongjian Li; Siqi Liu; Jennifer Ayissi; Guy Hoffman; Mohammad Soleymani 001; Maja J. Mataric (CoRR, 2024)

Affinity Diagramming with a Robot. - Matthew V. Law; Nnamdi Nwagwu; Amritansh Kwatra; Seo-Young Lee; Daniel M. Diangelis; Naifang Yu; Gonzalo Gonzalez-Pumariega; Amit Rajesh; Guy Hoffman (ACM Trans. Hum. Robot Interact., 2024)

Face2Gesture: Translating Facial Expressions into Robot Movements through Shared Latent Space Neural Networks. - Michael Suguitan; Nick DePalma; Guy Hoffman; Jessica K. Hodgins (ACM Trans. Hum. Robot Interact., 2024)

MirrorBot: Exploring Socio-Spatial Interactions that Foster Serendipitous Human Connections Through Robotic Mirrors. - Ge (Serena) Guo; Qi Yang; Yunting Yan; Xiaoman Yang; Guy Hoffman; Gilly Leshed; Keith Evan Green (CHI Extended Abstracts, 2025)

Facilitating Synchronized Movement During Ice-Breaking Scenarios Through a Real-World Reinforcement Learning Agent Using Non-Verbal Behaviors. - Ge (Serena) Guo; Qi Yang; Rejoice Hu; Guy Hoffman (HRI, 2025)

When and How to Use AI in the Design Process? Implications for Human-AI Design Collaboration. - Seo-young Lee; Matthew V. Law; Guy Hoffman (Int. J. Hum. Comput. Interact., 2025)

Analysis and Perspectives on the ANA Avatar XPRIZE Competition. - Kris Hauser; Eleanor 'Nell' Watson; Joonbum Bae; Josh Bankston; Sven Behnke; Bill Borgia; Manuel G. Catalano; Stefano Dafarra; Jan B. F. van Erp; Thomas Ferris; Jeremy Fishel; Guy Hoffman; et al. (Int. J. Soc. Robotics, 2025)