Twincode: An Instrumented Platform for Pair Programming Research. - Karim El-Refai; Daewon Kwon; David Brincau; Asli Akalin; Armando Fox; Pablo Fernández Montes; Amador Durán Toro (SIGCSE (2), 2023)

Automating Deformable Gasket Assembly. - Simeon Adebola; Tara Sadjadpour; Karim El-Refai; Will Panitch; Zehan Ma; Roy Lin; Tianshuang Qiu; Shreya Ganti; Charlotte Le; Jaimyn Drake; Ken Goldberg (CASE, 2024)

SWAG: Storytelling With Action Guidance. - Jonathan Pei; Zeeshan Patel; Karim El-Refai; Tianle Li (EMNLP (Findings), 2024)

Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot. - Justin Yu; Kush Hari; Kishore Srinivas; Karim El-Refai; Adam Rashid; Chung Min Kim; Justin Kerr; Richard Cheng; Muhammad Zubair Irshad; Ashwin Balakrishna; Thomas Kollar; Ken Goldberg (IROS, 2024)

Persistent Object Gaussian Splat (POGS) for Tracking Human and Robot Manipulation of Irregularly Shaped Objects. - Justin Yu; Kush Hari; Karim El-Refai; Arnav Dalal; Justin Kerr; Chung Min Kim; Richard Cheng; Muhammad Zubair Irshad; Ken Goldberg (CoRR, 2025)

Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware. - Justin Yu; Letian Fu; Huang Huang; Karim El-Refai; Rares Andrei Ambrus; Richard Cheng; Muhammad Zubair Irshad; Ken Goldberg (CoRR, 2025)

Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging. - Tianshuang Qiu; Zehan Ma; Karim El-Refai; Hiya Shah; Chung Min Kim; Justin Kerr; Ken Goldberg (CoRR, 2025)