Generalized Intersection Over Union: A Metric and a Loss for Bounding Box Regression. - Hamid Rezatofighi; Nathan Tsoi; JunYoung Gwak; Amir Sadeghian; Ian D. Reid 001; Silvio Savarese (CVPR, 2019)

SEAN: Social Environment for Autonomous Navigation. - Nathan Tsoi; Mohamed Hussein; Jeacy Espinoza; Xavier Ruiz; Marynel Vázquez (HAI, 2020)

Prompting Prosocial Human Interventions in Response to Robot Mistreatment. - Joe Connolly; Viola Mocz; Nicole Salomons; Joseph Valdez; Nathan Tsoi; Brian Scassellati; Marynel Vázquez (HRI, 2020)

A Heaviside Function Approximation for Neural Network Binary Classification. - Nathan Tsoi; Yofti Milkessa; Marynel Vázquez (CoRR, 2020)

SEAN-EP: A Platform for Collecting Human Feedback for Social Robot Navigation at Scale. - Nathan Tsoi; Mohamed Hussein; Olivia Fugikawa; J. D. Zhao; Marynel Vázquez (CoRR, 2020)

Improving Social Awareness Through DANTE: Deep Affinity Network for Clustering Conversational Interactants. - Mason Swofford; John Peruzzi; Nathan Tsoi; Sydney Thompson; Roberto Martín-Martín; Silvio Savarese; Marynel Vázquez (Proc. ACM Hum. Comput. Interact., 2020)

Perceptions of Conversational Group Membership based on Robots' Spatial Positioning: Effects of Embodiment. - Joe Connolly; Nathan Tsoi; Marynel Vázquez (HRI (Companion), 2021)

Challenges Deploying Robots During a Pandemic: An Effort to Fight Social Isolation Among Children. - Nathan Tsoi; Joe Connolly; Emmanuel Adéníran; Amanda Hansen; Kaitlynn Taylor Pineda; Timothy Adamson; Sydney Thompson; Rebecca Ramnauth; Marynel Vázquez; Brian Scassellati (HRI, 2021)

Improving the Robustness of Social Robot Navigation Systems. - Nathan Tsoi; Marynel Vázquez (HRI (Companion), 2021)

An Approach to Deploy Interactive Robotic Simulators on the Web for HRI Experiments: Results in Social Robot Navigation. - Nathan Tsoi; Mohamed Hussein; Olivia Fugikawa; J. D. Zhao; Marynel Vázquez (IROS, 2021)

Perceptions of the Helpfulness of Unexpected Agent Assistance. - Kate Candon; Zoe Hsu; Yoony Kim; Jesse Chen; Nathan Tsoi; Marynel Vázquez (HAI, 2022)

Bridging the Gap: Unifying the Training and Evaluation of Neural Network Binary Classifiers. - Nathan Tsoi; Kate Candon; Deyuan Li; Yofti Milkessa; Marynel Vázquez (NeurIPS, 2022)

SEAN 2.0: Formalizing and Generating Social Situations for Robot Navigation. - Nathan Tsoi; Alec Xiang; Peter Yu; Samuel S. Sohn; Greg Schwartz; Subashri Ramesh; Mohamed Hussein; Anjali W. Gupta; Mubbasir Kapadia; Marynel Vázquez (IEEE Robotics Autom. Lett., 2022)

Nonverbal Human Signals Can Help Autonomous Agents Infer Human Preferences for Their Behavior. - Kate Candon; Jesse Chen; Yoony Kim; Zoe Hsu; Nathan Tsoi; Marynel Vázquez (AAMAS, 2023)

SEAN-VR: An Immersive Virtual Reality Experience for Evaluating Social Robot Navigation. - Qiping Zhang; Nathan Tsoi; Marynel Vázquez (HRI (Companion), 2023)

Shutter, the Robot Photographer: Leveraging Behavior Trees for Public, In-the-Wild Human-Robot Interactions. - Alexander Lew; Sydney Thompson; Nathan Tsoi; Marynel Vázquez (CoRR, 2023)

Principles and Guidelines for Evaluating Social Robot Navigation Algorithms. - Anthony G. Francis; Claudia Pérez-D'Arpino; Chengshu Li 001; Fei Xia 002; Alexandre Alahi; Rachid Alami 001; Aniket Bera; Abhijat Biswas; Joydeep Biswas; Rohan Chandra; Hao-Tien Lewis Chiang; Michael Everett; et al. (CoRR, 2023)

Towards Inferring Users' Impressions of Robot Performance in Navigation Scenarios. - Qiping Zhang; Nathan Tsoi; Booyeon Choi; Jie Tan 001; Hao-Tien Lewis Chiang; Marynel Vázquez (CoRR, 2023)

How Do Robot Experts Measure the Success of Social Robot Navigation? - Nathan Tsoi; Jessica Romero; Marynel Vázquez (HRI (Companion), 2024)

Learning Human Preferences Over Robot Behavior as Soft Planning Constraints. - Austin Narcomey; Nathan Tsoi; Ruta Desai; Marynel Vázquez (CoRR, 2024)

Aligning Multiclass Neural Network Classifier Criterion with Task Performance via Fβ-Score. - Nathan Tsoi; Deyuan Li; Taesoo Daniel Lee; Marynel Vázquez (CoRR, 2024)

Influence of Simulation and Interactivity on Human Perceptions of a Robot During Navigation Tasks. - Nathan Tsoi; Rachel Sterneck; Xuan Zhao 010; Marynel Vázquez (ACM Trans. Hum. Robot Interact., 2024)

Principles and Guidelines for Evaluating Social Robot Navigation Algorithms. - Anthony G. Francis; Claudia Pérez-D'Arpino; Chengshu Li 002; Fei Xia 002; Alexandre Alahi; Rachid Alami 001; Aniket Bera; Abhijat Biswas; Joydeep Biswas; Rohan Chandra; Hao-Tien Lewis Chiang; Michael Everett; et al. (ACM Trans. Hum. Robot Interact., 2025)

Predicting Human Perceptions of Robot Performance during Navigation Tasks. - Qiping Zhang; Nathan Tsoi; Mofeed Nagib; Booyeon Choi; Jie Tan 001; Hao-Tien Lewis Chiang; Marynel Vázquez (ACM Trans. Hum. Robot Interact., 2025)