Help me help you: interfaces for personal robots. - Ian J. Goodfellow; Nate Koenig; Marius Muja; Caroline Pantofaru; Alexander Sorokin; Leila Takayama (HRI, 2010)

A Realistic RoboCup Rescue Simulation Based on Gazebo. - Masaru Shimizu; Nate Koenig; Arnoud Visser; Tomoichi Takahashi (RoboCup, 2015)

Inside the Virtual Robotics Challenge: Simulating Real-Time Robotic Disaster Response. - Carlos E. Agüero; Nate Koenig; Ian Chen; Hugo Boyer; Steven C. Peters; John M. Hsu; Brian P. Gerkey; Steffi Paepcke; Jose L. Rivero; Justin Manzo; Eric Krotkov; Gill A. Pratt (IEEE Trans Autom. Sci. Eng., 2015)

Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items. - Laura Downs; Anthony Francis; Nate Koenig; Brandon Kinman; Ryan Hickman; Krista Reymann; Thomas Barlow McHugh; Vincent Vanhoucke (ICRA, 2022)