Robot Programming by Demonstration with Interactive Action Visualizations. - Sonya Alexandrova; Maya Cakmak; Kaijen Hsiao; Leila Takayama (Robotics: Science and Systems, 2014)

Visual Robot Programming for Generalizable Mobile Manipulation Tasks. - Sonya Alexandrova; Zachary Tatlock; Maya Cakmak (HRI (Extended Abstracts), 2015)

RoboFlow: A flow-based visual programming language for mobile manipulation tasks. - Sonya Alexandrova; Zachary Tatlock; Maya Cakmak (ICRA, 2015)