Fail It till You Make It: Error Expectation in Complex-Plan Execution for Service Robots. - Luis Contreras 001; Jesus Savage; Stephany Ortuno-Chanelo; Marco Negrete; Arata Sakamaki; Hiroyuki Okada (ICR, 2023)

Keep it Simple: Understanding Natural Language Commands for General-Purpose Service Robots. - Stephany Ortuno-Chanelo; Luis Contreras 001; Jesús Savage; Hiroyuki Okada (SII, 2024)

Complex Task Planning for General-Purpose Service Robots. - Luis Contreras 001; Jesús Savage; Stephany Ortuno-Chanelo; Marco Negrete; Hiroyuki Okada (J. Robotics Mechatronics, 2025)