GhostAR: A Time-space Editor for Embodied Authoring of Human-Robot Collaborative Task with Augmented Reality. - Yuanzhi Cao; Tianyi Wang 004; Xun Qian; Pawan S. Rao; Manav Wadhawan; Ke Huo; Karthik Ramani (UIST, 2019)

Vipo: Spatial-Visual Programming with Functions for Robot-IoT Workflows. - Gaoping Huang; Pawan S. Rao; Meng-Han Wu; Xun Qian; Shimon Y. Nof; Karthik Ramani; Alexander J. Quinn (CHI, 2020)