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ORCIDDaniel Szafir
Daniel J. Szafir
Person information
- affiliation: University of North Carolina at Chapel Hill, NC, USA
- affiliation (2015 - 2021): University of Colorado at Boulder, ATLAS Institute, CO, USA
- affiliation (PhD 2015): University of Madison-Wisconsin, Madison, WI, USA
- affiliation (former): Boston College, Chestnut Hill, MA, USA
- not to be confused with: Danielle Szafir
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2020 – today
- 2025
[j12]Yue Yang
, Linfeng Zhao, Mingyu Ding, Gedas Bertasius, Daniel Szafir:
BOSS: Benchmark for Observation Space Shift in Long-Horizon Task. IEEE Robotics Autom. Lett. 10(9): 8882-8889 (2025)- [c56]Bryce Ikeda, Maitrey Gramopadhye, LillyAnn Nekervis, Daniel Szafir:
MARCER: Multimodal Augmented Reality for Composing and Executing Robot Tasks. HRI 2025: 529-539 - [c55]Chenyang Ma, Yue Yang, Bryce Ikeda, Daniel Szafir:
Supporting Long-Horizon Tasks in Human-Robot Collaboration by Aligning Intentions via Augmented Reality. HRI 2025: 1468-1472 - [c54]Yu Fang, Yue Yang, Xinghao Zhu, Kaiyuan Zheng, Gedas Bertasius, Daniel Szafir, Mingyu Ding:
ReBot: Scaling Robot Learning with Real-to-Sim-to-Real Robotic Video Synthesis. IROS 2025: 11351-11358 - [c53]Jade Kandel, Sriya Kasumarthi, Spiros Tsalikis, Chelsea Duppen, Daniel Szafir, Michael Lewek, Henry Fuchs, Danielle Szafir:
Investigating Encoding and Perspective for Augmented Reality Motion Guidance. ISMAR 2025: 1617-1627 - [i21]Yue Yang, Linfeng Zhao, Mingyu Ding, Gedas Bertasius, Daniel Szafir:
BOSS: Benchmark for Observation Space Shift in Long-Horizon Task. CoRR abs/2502.15679 (2025) - [i20]Yu Fang, Yue Yang, Xinghao Zhu, Kaiyuan Zheng, Gedas Bertasius, Daniel Szafir, Mingyu Ding:
ReBot: Scaling Robot Learning with Real-to-Sim-to-Real Robotic Video Synthesis. CoRR abs/2503.14526 (2025) - [i19]Xavier O'Keefe, Katy McCutchan, Alexis A. Muniz, Jack Burns, Daniel Szafir:
Practice Makes Perfect: A Study of Digital Twin Technology for Assembly and Problem-solving using Lunar Surface Telerobotics. CoRR abs/2505.13722 (2025) - [i18]Jade Kandel, Sriya Kasumarthi, Spiros Tsalikis, Chelsea Duppen, Daniel Szafir, Michael Lewek, Henry Fuchs, Danielle Szafir:
Investigating Encoding and Perspective for Augmented Reality. CoRR abs/2510.00407 (2025) - [i17]Yu Fang, Kanchana Ranasinghe, Le Xue, Honglu Zhou, Juntao Tan, Ran Xu, Shelby Heinecke, Caiming Xiong, Silvio Savarese, Daniel Szafir, Mingyu Ding, Michael S. Ryoo, Juan Carlos Niebles:
Robotic VLA Benefits from Joint Learning with Motion Image Diffusion. CoRR abs/2512.18007 (2025) - 2024
- [j11]Nicholas Conlon, Nisar R. Ahmed, Daniel Szafir:
A Survey of Algorithmic Methods for Competency Self-Assessments in Human-Autonomy Teaming. ACM Comput. Surv. 56(7): 164:1-164:31 (2024) - [j10]Bryce Ikeda, Daniel Szafir:
PRogramAR: Augmented Reality End-User Robot Programming. ACM Trans. Hum. Robot Interact. 13(1): 15:1-15:20 (2024) - [j9]Connor Brooks, Wyatt Rees, Daniel Szafir:
Assistance in Teleoperation of Redundant Robots through Predictive Joint Maneuvering. ACM Trans. Hum. Robot Interact. 13(3): 35:1-35:23 (2024) - [c52]Jade Kandel, Chelsea Duppen, Qian Zhang, Howard Jiang, Angelos Angelopoulos, Ashley Paula-Ann Neall, Pranav Wagh, Daniel Szafir, Henry Fuchs, Michael Lewek, Danielle Albers Szafir:
PD-Insighter: A Visual Analytics System to Monitor Daily Actions for Parkinson's Disease Treatment. CHI 2024: 130:1-130:18 - [c51]Spiros Tsalikis, William J. Schroeder, Daniel Szafir, Kenneth Moreland:
An Accelerated Clip Algorithm for Unstructured Meshes: A Batch-Driven Approach. EGPGV@EuroVis 2024 - [c50]Michael E. Walker, Maitrey Gramopadhye, Bryce Ikeda, Jack Burns, Daniel Szafir:
The Cyber-Physical Control Room: A Mixed Reality Interface for Mobile Robot Teleoperation and Human-Robot Teaming. HRI 2024: 762-771 - [c49]Henny Admoni, Wafa Johal, Daniel Szafir, Anara Sandygulova:
Designing an Introductory HRI Course. HRI (Companion) 2024: 1302-1304 - [c48]Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir:
ARCADE: Scalable Demonstration Collection and Generation via Augmented Reality for Imitation Learning. IROS 2024: 2855-2861 - [c47]Janine Hoelscher, Bryce Ikeda, Daniel Szafir, Ron Alterovitz:
Incorporating Retakes in a Robotics Class with Labs. SIGCSE (2) 2024: 1676-1677 - [i16]Henny Admoni, Daniel Szafir, Wafa Johal, Anara Sandygulova:
Paper index: Designing an introductory HRI course (workshop at HRI 2024). CoRR abs/2403.05588 (2024) - [i15]Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir:
Augmented Reality Demonstrations for Scalable Robot Imitation Learning. CoRR abs/2403.13910 (2024) - [i14]Jade Kandel, Chelsea Duppen, Qian Zhang, Howard Jiang, Angelos Angelopoulos, Ashley Paula-Ann Neall, Pranav Wagh, Daniel Szafir, Henry Fuchs, Michael Lewek, Danielle Albers Szafir:
PD-Insighter: A Visual Analytics System to Monitor Daily Actions for Parkinson's Disease Treatment. CoRR abs/2404.10661 (2024) - [i13]Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir:
ARCADE: Scalable Demonstration Collection and Generation via Augmented Reality for Imitation Learning. CoRR abs/2410.15994 (2024) - 2023
- [j8]Nicholas Conlon, Nisar R. Ahmed, Daniel Szafir:
Event-triggered robot self-assessment to aid in autonomy adjustment. Frontiers Robotics AI 10 (2023) - [j7]Michael E. Walker, Thao Phung, Tathagata Chakraborti, Tom Williams, Daniel Szafir:
Virtual, Augmented, and Mixed Reality for Human-robot Interaction: A Survey and Virtual Design Element Taxonomy. ACM Trans. Hum. Robot Interact. 12(4): 43:1-43:39 (2023) - [c46]Bryce Ikeda, Janine Hoelscher, Ron Alterovitz, Daniel Szafir:
Guiding the Development of Undergraduate Educational Robotics. CompEd (1) 2023: 71-77 - [c45]Hooman Hedayati, Annika Muehlbradt, James Kennedy, Daniel Szafir:
Identifying the Focus of Attention in Human-Robot Conversational Groups. HAI 2023: 3-12 - [c44]Maitrey Gramopadhye, Daniel Szafir:
Generating Executable Action Plans with Environmentally-Aware Language Models. IROS 2023: 3568-3575 - [c43]Qian Zhang, Akshay Paruchuri, Young-Woon Cha, Jiabin Huang, Jade Kandel, Howard Jiang, Adrian Ilie, Andrei State, Danielle Albers Szafir, Daniel Szafir, Henry Fuchs:
Reconstruction of Human Body Pose and Appearance Using Body-Worn IMUs and a Nearby Camera View for Collaborative Egocentric Telepresence. VR Workshops 2023: 96-97 - [i12]Nicholas Conlon, Nisar R. Ahmed, Daniel Szafir:
Dynamic Competency Self-Assessment for Autonomous Agents. CoRR abs/2303.01646 (2023) - [i11]Tathagata Chakraborti, Jungkoo Kang, Christian Muise, Sarath Sreedharan, Michael E. Walker, Daniel Szafir, Tom Williams:
TOBY: A Tool for Exploring Data in Academic Survey Papers. CoRR abs/2306.10051 (2023) - 2022
- [j6]Hooman Hedayati, Ryo Suzuki, Wyatt Rees, Daniel Leithinger, Daniel Szafir:
Designing Expandable-Structure Robots for Human-Robot Interaction. Frontiers Robotics AI 9: 719639 (2022) - [c42]Bryce Ikeda, Daniel Szafir:
Advancing the Design of Visual Debugging Tools for Roboticists. HRI 2022: 195-204 - [c41]Hooman Hedayati, Daniel Szafir:
Predicting Positions of People in Human-Robot Conversational Groups. HRI 2022: 402-411 - [c40]Angelos Angelopoulos, Austin Hale, Husam Shaik, Akshay Paruchuri, Ken Liu, Randal Tuggle, Daniel Szafir:
Drone Brush: Mixed Reality Drone Path Planning. HRI 2022: 678-682 - [c39]Nicholas Conlon, Daniel Szafir, Nisar R. Ahmed:
"I'mConfident This Will End Poorly": Robot Proficiency Self-Assessment in Human-Robot Teaming. IROS 2022: 2127-2134 - [c38]Connor Brooks, Daniel Szafir:
The Predictive Kinematic Control Tree: Enhancing Teleoperation of Redundant Robots through Probabilistic User Models. IROS 2022: 10704-10711 - [i10]Michael E. Walker, Thao Phung, Tathagata Chakraborti, Tom Williams, Daniel Szafir:
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction: A Survey and Virtual Design Element Taxonomy. CoRR abs/2202.11249 (2022) - [i9]Nicholas Conlon, Daniel Szafir, Nisar R. Ahmed:
Investigating the Effects of Robot Proficiency Self-Assessment on Trust and Performance. CoRR abs/2203.10407 (2022) - [i8]Maitrey Gramopadhye, Daniel Szafir:
Generating Executable Action Plans with Environmentally-Aware Language Models. CoRR abs/2210.04964 (2022) - 2021
- [c37]Daniel Szafir, Danielle Albers Szafir:
Connecting Human-Robot Interaction and Data Visualization. HRI 2021: 281-292 - [c36]Matthew B. Luebbers, Connor Brooks, Carl L. Mueller, Daniel Szafir, Bradley Hayes:
ARC-LfD: Using Augmented Reality for Interactive Long-Term Robot Skill Maintenance via Constrained Learning from Demonstration. ICRA 2021: 3794-3800 - [c35]Michael E. Walker, Zhaozhong Chen, Matthew Whitlock, David Blair, Danielle Albers Szafir, Christoffer Heckman, Daniel Szafir:
A Mixed Reality Supervision and Telepresence Interface for Outdoor Field Robotics. IROS 2021: 2345-2352 - [c34]Hooman Hedayati, Mark D. Gross, Daniel Szafir:
What Information Should a Robot Convey? IROS 2021: 6232-6239 - [e2]Cindy L. Bethel, Ana Paiva, Elizabeth Broadbent, David Feil-Seifer, Daniel Szafir:
ACM/IEEE International Conference on Human-Robot Interaction, HRI 2021, Boulder, CO, USA, March 8-11, 2021. ACM 2021, ISBN 978-1-4503-8289-2 [contents] - [e1]Cindy L. Bethel, Ana Paiva, Elizabeth Broadbent, David Feil-Seifer, Daniel Szafir:
Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2021, Boulder, CO, USA, March 8-11, 2021. ACM 2021, ISBN 978-1-4503-8290-8 [contents] - 2020
- [j5]Daniel Szafir, Krzysztof Skonieczny, Mark Woods:
Editorial: Special issue on space robotics. J. Field Robotics 37(5): 697-698 (2020) - [c33]Hooman Hedayati, Daniel Szafir, James Kennedy:
Comparing F-Formations Between Humans and On-Screen Agents. CHI Extended Abstracts 2020: 1-9 - [c32]Ryo Suzuki, Hooman Hedayati, Clement Zheng, James L. Bohn, Daniel Szafir, Ellen Yi-Luen Do, Mark D. Gross, Daniel Leithinger:
RoomShift: Room-scale Dynamic Haptics for VR with Furniture-moving Swarm Robots. CHI 2020: 1-11 - [c31]Tom Williams, Daniel Szafir, Tathagata Chakraborti, Soh-Khim Ong, Eric Rosen, Serena Booth, Thomas R. Groechel:
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction (VAM-HRI). HRI (Companion) 2020: 663-664 - [c30]Hooman Hedayati, Ryo Suzuki, Daniel Leithinger, Daniel Szafir:
PufferBot: Actuated Expandable Structures for Aerial Robots. IROS 2020: 1338-1343 - [c29]Hooman Hedayati, Annika Muehlbradt, Daniel J. Szafir, Sean Andrist:
REFORM: Recognizing F-formations for Social Robots. IROS 2020: 11181-11188 - [c28]Connor Brooks, Daniel Szafir:
Visualization of Intended Assistance for Acceptance of Shared Control. IROS 2020: 11425-11430 - [i7]Hooman Hedayati, Ryo Suzuki, Daniel Leithinger, Daniel Szafir:
PufferBot: Actuated Expandable Structures for Aerial Robots. CoRR abs/2008.07615 (2020) - [i6]Hooman Hedayati, Annika Muehlbradt, Daniel J. Szafir, Sean Andrist:
REFORM: Recognizing F-formations for Social Robots. CoRR abs/2008.07668 (2020) - [i5]Ryo Suzuki, Hooman Hedayati, Clement Zheng, James L. Bohn, Daniel Szafir, Ellen Yi-Luen Do, Mark D. Gross, Daniel Leithinger:
RoomShift: Room-scale Dynamic Haptics for VR with Furniture-moving Swarm Robots. CoRR abs/2008.08695 (2020) - [i4]Connor Brooks, Daniel Szafir:
Visualization of Intended Assistance for Acceptance of Shared Control. CoRR abs/2008.10759 (2020)
2010 – 2019
- 2019
- [j4]Steve McGuire, P. Michael Furlong, Terry Fong, Christoffer Heckman, Daniel Szafir, Simon J. Julier, Nisar R. Ahmed:
Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in Robotic Space Operations. IEEE Robotics Autom. Lett. 4(2): 1216-1223 (2019) - [c27]Hooman Hedayati, Srinjita Bhaduri, Tamara Sumner, Daniel Szafir, Mark D. Gross:
HugBot: A soft robot designed to give human-like hugs. IDC 2019: 556-561 - [c26]Darren Guinness, Annika Muehlbradt, Daniel Szafir, Shaun K. Kane:
RoboGraphics: Dynamic Tactile Graphics Powered by Mobile Robots. ASSETS 2019: 318-328 - [c25]Darren Guinness, Annika Muehlbradt, Daniel Szafir, Shaun K. Kane:
RoboGraphics: Using Mobile Robots to Create Dynamic Tactile Graphics. ASSETS 2019: 673-675 - [c24]Daniel Szafir:
Mediating Human-Robot Interactions with Virtual, Augmented, and Mixed Reality. HCI (10) 2019: 124-149 - [c23]Connor Brooks, Daniel Szafir:
Balanced Information Gathering and Goal-Oriented Actions in Shared Autonomy. HRI 2019: 85-94 - [c22]Michael E. Walker, Hooman Hedayati, Daniel Szafir:
Robot Teleoperation with Augmented Reality Virtual Surrogates. HRI 2019: 202-210 - [c21]Tom Williams, Daniel Szafir, Tathagata Chakraborti:
The Reality-Virtuality Interaction Cube: A Framework for Conceptualizing Mixed-Reality Interaction Design Elements for HRI. HRI 2019: 520-521 - [c20]Hooman Hedayati, Daniel Szafir, Sean Andrist:
Recognizing F-Formations in the Open World. HRI 2019: 558-559 - [c19]Tom Williams, Daniel Szafir, Tathagata Chakraborti, Elizabeth Phillips:
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction (VAM-HRI). HRI 2019: 671-672 - [c18]Michael E. Walker, Daniel Szafir, Irene Rae:
The Influence of Size in Augmented Reality Telepresence Avatars. VR 2019: 538-546 - [i3]Michael L. Iuzzolino, Michael E. Walker, Daniel Szafir:
Virtual-to-Real-World Transfer Learning for Robots on Wilderness Trails. CoRR abs/1901.05599 (2019) - [i2]Connor Brooks, Daniel Szafir:
Building Second-Order Mental Models for Human-Robot Interaction. CoRR abs/1909.06508 (2019) - 2018
- [j3]Tom Williams, Daniel Szafir, Tathagata Chakraborti, Heni Ben Amor:
The 1st International Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interaction. AI Mag. 39(4): 64-66 (2018) - [j2]Steve McGuire, P. Michael Furlong, Christoffer Heckman, Simon Julier, Daniel Szafir, Nisar R. Ahmed:
Failure is Not an Option: Policy Learning for Adaptive Recovery in Space Operations. IEEE Robotics Autom. Lett. 3(3): 1639-1646 (2018) - [c17]Hooman Hedayati, Michael E. Walker, Daniel Szafir:
Improving Collocated Robot Teleoperation with Augmented Reality. HRI 2018: 78-86 - [c16]Michael E. Walker, Hooman Hedayati, Jennifer Lee, Daniel Szafir:
Communicating Robot Motion Intent with Augmented Reality. HRI 2018: 316-324 - [c15]Tom Williams, Daniel Szafir, Tathagata Chakraborti, Heni Ben Amor:
Virtual, Augmented, and Mixed Reality for Human-Robot Interaction. HRI (Companion) 2018: 403-404 - [c14]Daniel Prendergast, Daniel Szafir:
Improving Object Disambiguation from Natural Language using Empirical Models. ICMI 2018: 477-485 - [c13]Michael L. Iuzzolino, Michael E. Walker, Daniel Szafir:
Virtual-to-Real-World Transfer Learning for Robots on Wilderness Trails. IROS 2018: 576-582 - [c12]Connor Brooks, Madhur Atreya, Daniel Szafir:
Proactive Robot Assistants for Freeform Collaborative Tasks Through Multimodal Recognition of Generic Subtasks. IROS 2018: 8567-8573 - [c11]Darren Guinness, Annika Muehlbradt, Daniel Szafir, Shaun K. Kane:
The Haptic Video Player: Using Mobile Robots to Create Tangible Video Annotations. ISS 2018: 203-211 - [i1]Steve McGuire, Christoffer Heckman, Daniel Szafir, Simon Julier, Nisar R. Ahmed:
Extrinisic Calibration of a Camera-Arm System Through Rotation Identification. CoRR abs/1812.08280 (2018) - 2017
- [j1]Daniel Szafir, Bilge Mutlu, Terrence Fong:
Designing planning and control interfaces to support user collaboration with flying robots. Int. J. Robotics Res. 36(5-7): 514-542 (2017) - [c10]Darren Guinness, Daniel Szafir, Shaun K. Kane:
GUI Robots: Using Off-the-Shelf Robots as Tangible Input and Output Devices for Unmodified GUI Applications. Conference on Designing Interactive Systems 2017: 767-778 - [c9]Catherine Diaz, Michael E. Walker, Danielle Albers Szafir, Daniel Szafir:
Designing for Depth Perceptions in Augmented Reality. ISMAR 2017: 111-122 - 2015
- [c8]Daniel Szafir, Bilge Mutlu, Terry Fong:
Communicating Directionality in Flying Robots. HRI 2015: 19-26 - [c7]Allison Sauppé, Daniel Szafir, Chien-Ming Huang, Bilge Mutlu:
From 9 to 90: Engaging Learners of All Ages. SIGCSE 2015: 575-580 - 2014
- [c6]Daniel Szafir:
Human interaction with assistive free-flyers. CHI Extended Abstracts 2014: 347-350 - [c5]Daniel Szafir, Bilge Mutlu, Terrence Fong:
Communication of intent in assistive free flyers. HRI 2014: 358-365 - 2013
- [c4]Kevin Ponto, Ross Tredinnick, Aaron Bartholomew, Carrie Roy, Daniel Szafir, Daniel Greenheck, Joe Kohlmann:
SculptUp: A rapid, immersive 3D modeling environment. 3DUI 2013: 199-200 - [c3]Daniel Szafir, Bilge Mutlu:
ARTFul: adaptive review technology for flipped learning. CHI 2013: 1001-1010 - 2012
- [c2]Daniel Szafir, Bilge Mutlu:
Pay attention!: designing adaptive agents that monitor and improve user engagement. CHI 2012: 11-20 - 2011
- [c1]Daniel Szafir, Robert Signorile:
An Exploration of the Utilization of Electroencephalography and Neural Nets to Control Robots. INTERACT (4) 2011: 186-194
Coauthor Index
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