Publications

The RARE Lab publishs in top HRI and robotics conferences (HRI, ICRA, IROS) and journals (THRI), as well as expanding to top AR/VR (IEEE VR), cognitive science (CogSci) and linguistics conferences (INLG).

For community building, networking, and students to practice and gather feedback, we also publish in workshops.

We have received the best long-paper award at INLG 2022, the best late-breaking report third prize at HRI 2022, and a best late-breaking report nominee at HRI 2023.

Hong Wang, Tam Do, and Zhao Han

Designing Indicators to Show a Robot’s Physical Vision Capability

The 31st IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (IEEE VRW)

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2024
Poster submission
Jiaee Cheong, Nikhil Churamani, Luke Guerdan, Tabitha Edith Lee, Zhao Han, and Hatice Gunes

Causal-HRI: Causal Learning for Human-Robot Interaction

2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI), Workshop Abstract

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2024
Raj Korpan*, Amy Eguchi, Zhao Han, Anastasia K. Ostrowski, Sindhu Ravindranath, and Ana Tanevska

3rd Workshop on Inclusive HRI: Equity and Diversity in Design, Application, Methods, and Community

2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI), Workshop Abstract

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2024
Gregory LeMasurier, Alvika Gautam, Zhao Han, Jacob Crandall, and Holly Yanco

Reactive or Proactive? How Robots Should Explain Failures

2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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2024
Top HRI conference. 24.9% acceptance rate.
Annie Huang*, Alyson Ranucci*, Adam Stogsdill*, Grace Clark, Keenan Schott, Mark Higger, Zhao Han, and Tom Williams

(Gestures Vaguely): The Effects of Robots’ Use of Abstract Pointing Gestures in Large-Scale Environments

2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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2024
*Equal contribution. Top HRI conference. 24.9% acceptance rate.
Uthman Tijani, Hong Wang, and Zhao Han

Towards Reproducible Language-Based HRI Experiments: Open-Sourcing a Generalized Experiment Project

2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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2024
61.3% acceptance rate (Short Contribution)
Rafael Sousa Silva, Zhao Han, and Tom Williams

The Importance of Memory for Language-Capable Robots

XRDS: Crossroads, The ACM Magazine for Students

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2023
https://zhaohanphd.com/publications/xrds23-the-importance-of-memory-for-language-capable-robots/
Mark Higger, Polina Rygina, Logan Daigler, Lara Ferreira Bezerra, Zhao Han, and Tom Williams

Toward Open-World Human-Robot Interaction: What Types of Gestures Are Used in Task-Based Open-World Referential Communication?

The 27th Workshop on the Semantics and Pragmatics of Dialogue (SemDial)

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2023
https://zhaohanphd.com/publications/semdial23-toward-open-world-human-robot-interaction-what-types-of-gestures-are-used-in-task-based-open-world-referential-communication/
Gabriel Del Castillo*, Grace Clark*, Zhao Han*, and Tom Williams

Exploring the Naturalness of Cognitive Status Informed Referring Form Selection Models

The 16th ACL International Conference on Natural Language Generation (INLG)

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2023
* Equal contribution
https://zhaohanphd.com/publications/inlg23-exploring-the-naturalness-of-cognitive-status-informed-referring-form-selection-models/
Zhao Han and Tom Williams

Evaluating Cognitive Status-Informed Referring Form Selection for Human-Robot Interactions

2023 Annual Meeting of the Cognitive Science Society (CogSci)

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2023
43.4% acceptance rate (380/875)
https://zhaohanphd.com/publications/cogsci23-evaluating-cognitive-status-informed-referring-form-selection-for-human-robot-interactions/
Ana Tanevska, Shruti Chandra, Giulia Barbareschi, Amy Eguchi, Zhao Han, Raj Korpan, Anastasia K. Ostrowski, Giulia Perugia, Sindhu Ravindranath, Katie Seaborn, Katie Winkle

Inclusive HRI II: Equity and Diversity in Design, Application, Methods, and Community

2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI), Workshop Abstract

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2023
https://zhaohanphd.com/publications/inclusive-hri-ii/
Zhao Han and Holly A. Yanco

Communicating Missing Causal Information to Explain a Robot’s Past Behavior

ACM Transactions on Human-Robot Interaction (THRI)

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2023
https://zhaohanphd.com/publications/thri22b-communicating-missing-causal-information-to-explain-a-robots-past-behavior/
Landon Brown*, Jared Hamilton*, Zhao Han*†, Albert Phan*, Thao Phung*, Eric Hansen, Nhan Tran, and Tom Williams

Best of Both Worlds? Combining Different Forms of Mixed Reality Deictic Gestures

ACM Transactions on Human-Robot Interaction (THRI)

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2023
* Equal contribution
https://zhaohanphd.com/publications/thri22-best-both-worlds-combining-different-forms-mixed-reality-deictic-gestures/
Shelly Bagchi*, Patrick Holthaus, Gloria Beraldo, Emmanuel Senft, Daniel Hernández García, Zhao Han, Suresh Kumaar Jayaraman, Alessandra Rossi, Connor Esterwood, Antonio Andriella, and Paul Pridham

Towards Improved Replicability of Human Studies in Human-Robot Interaction: Recommendations for Formalized Reporting

2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI), Late-Breaking Report (LBR)

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2023
Best LBR Nominee
https://zhaohanphd.com/publications/hri23lbr-towards-improved-replicability-of-human-studies-in-human-robot-interaction-recommendations-for-formalized-reporting/
Zhao Han*, Yifei Zhu*, Albert Phan, Fernando Sandoval Garza, Amia Castro, Tom Williams

Crossing Reality: Comparing Physical and Virtual Robot Deixis

2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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2023
* Equal contribution; 25.2% acceptance rate
https://zhaohanphd.com/publications/hri23ar-crossing-reality-comparing-physical-and-virtual-robot-deixis/
Ruchen Wen, Alyssa Hanson, Zhao Han, and Tom Williams

Fresh Start: Encouraging Politeness in Wakeword-Driven Human-Robot Interaction

2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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2023
25.2% acceptance rate
https://zhaohanphd.com/publications/hri23wen-fresh-start-encouraging-politeness-in-wakeword-driven-human-robot-interaction/
Zhao Han, Emmanuel Senft, Muneeb I. Ahmad, Shelly Bagchi, Amir Yazdani, Jason R. Wilson, Boyoung Kim, Ruchen Wen, Justin W. Hart, Daniel Hernández García, Matteo Leonetti, Ross Mead, Reuth Mirsky, Ahalya Prabhakar, and Megan L. Zimmerman

Proceedings of the AI-HRI Symposium at AAAI-FSS 2022

2022 AAAI Fall Symposium on The Artificial Intelligence for Human-Robot Interaction (AI-HRI)

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2022
https://zhaohanphd.com/publications/ai-hri-2022-proceedings/
Zhao Han, Tom Williams, and Holly A. Yanco

Mixed-Reality Robot Behavior Replay: A System Implementation

2022 AAAI Fall Symposium on The Artificial Intelligence for Human-Robot Interaction (AI-HRI)

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2022
https://zhaohanphd.com/publications/aihri22-mixed-reality-robot-behavior-replay-a-system-implementation/
Kevin Spevak*, Zhao Han*, Tom Williams, and Neil T. Dantam

Givenness Hierarchy Informed Optimal Document Planning for Situated Human-Robot Interaction

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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2022
* Equal contribution; 48% acceptance rate (1,740/3,579)
https://zhaohanphd.com/publications/iros22-givenness-hierarchy-informed-optimal-sentence-planning-situated-human-robot-interaction/
Zhao Han, Polina Rygina, and Tom Williams

Evaluating Referring Form Selection Models in Partially-Known Environments

The 15th ACL International Conference on Natural Language Generation

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2022
Best Long-Paper Award
https://zhaohanphd.com/publications/inlg22-evaluating-referring-form-selection-models-in-partially-known-environments/
Zhao Han and Tom Williams

Towards Formalizing HRI Data Collection Processes

The 4th Annual Workshop on Novel and Emerging Test Methods & Metrics for Effective HRI at HRI 2022

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2022
https://zhaohanphd.com/publications/hri22tmm-towards-formalizing-hri-data-collection-processes/
Zhao Han*, Albert Phan*, Amia Castro*, Fernando Sandoval Garza* and Tom Williams

Towards an Understanding of Physical vs Virtual Robot Appendage Design

The International Workshop on Virtual, Augmented, and Mixed-Reality for Human-Robot Interactions at HRI 2022

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2022
*equal contribution
https://zhaohanphd.com/publications/vamhri22-towards-an-understanding-of-physical-vs-virtual-robot-appendage-design/
Gregory LeMasurier, Alvika Gautam, Zhao Han, Jacob W. Crandall, and Holly A. Yanco

“Why Didn’t I Do It?” A Study Design to Evaluate Robot Explanations

HRI 2022 Workshop YOUR study design! Participatory critique and refinement of participants’ studies

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2022
https://zhaohanphd.com/publications/wysd22-why-didnt-i-do-it-a-study-design-to-evaluate-robot-explanations/
Zhao Han, Boyoung Kim, Holly A. Yanco, and Tom Williams

Causal Robot Communication Inspired by Observational Learning Insights

2022 AAAI Spring Symposium on Closing the Assessment Loop: Communicating Proficiency and Intent in Human-Robot Teaming

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2022
https://zhaohanphd.com/publications/aaai-sss22-causal-robot-communication-inspired-by-observational-learning-insights/
Zhao Han and Tom Williams

A Task Design for Studying Referring Behaviors for Linguistic HRI

2022 ACM/IEEE International Conference on Human-Robot Interaction (HRI), Late-Breaking Report (LBR)

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2022
Best LBR Award, Third Prize
https://zhaohanphd.com/publications/hri22lbr-a-task-design-for-studying-referring-behaviors-for-linguistic-hri/
Zhao Han, Jenna Parrillo, Alexander Wilkinson, Holly A. Yanco, and Tom Williams

Projecting Robot Navigation Paths: Hardware and Software for Projected AR

2022 ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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2022
24% acceptance rate
https://zhaohanphd.com/publications/hri22b-projecting-robot-navigation-paths-hardware-and-software-for-projected-ar/
Ruchen Wen, Zhao Han and Tom Williams

Teacher, Teammate, Subordinate, Friend: Generating Norm Violation Responses Grounded in Role-based Relational Norms

2022 ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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2022
24% acceptance rate
https://zhaohanphd.com/publications/hri22a-teacher-teammate-subordinate-friend-generating-norm-violation-responses-grounded-in-role-based-relational-norms/
Reuth Mirsky, Megan Zimmerman, Muneed Ahmad, Shelly Bagchi, Felix Gervits, Zhao Han, Justin Hart, Daniel Hernández García, Matteo Leonetti, Ross Mead, Emmanuel Senft, Jivko Sinapov, Jason Wilson

AI-HRI 2021 Proceedings

2021 AAAI Fall Symposium on The Artificial Intelligence for Human-Robot Interaction (AI-HRI)

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2021
https://zhaohanphd.com/publications/ai-hri-2021-proceedings/
Zhao Han

Robot Explanations: Preferences, Generation, and Communication

University of Massachusetts Lowell

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2021
https://zhaohanphd.com/publications/phd-dissertation-robot-explanations-preferences-generation-communication/
Zhao Han, Elizabeth Phillips (George Mason University), and Holly A. Yanco

The Need for Verbal Robot Explanations and How People Would Like a Robot To Explain Itself

ACM Transactions on Human-Robot Interaction (THRI)

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2021
https://zhaohanphd.com/publications/thri21b-need-verbal-robot-explanations-how-people-would-like-robot-explain-itself/
Alexander Wilkinson, Michael Gonzales, Patrick Hoey, David Kontak, Dian Wang, Noah Torname, Sam Laderoute, Zhao Han, Jordan Allspaw, Robert Platt, and Holly A. Yanco

Design Guidelines for Human-Robot Interaction with Assistive Robot Manipulation Systems

Paladyn, Journal of Behavioral Robotics

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2021
https://zhaohanphd.com/publications/paladyn21-design-guidelines-for-human-robot-interaction-with-assistive-robot-manipulation-systems/
Zhao Han, Adam Norton, Eric McCann, Lisa Baraniecki, Will Ober, Dave Shane, Anna Skinner and Holly A. Yanco

Investigation of Multiple Resource Theory Design Principles on Robot Teleoperation and Workload Management

2021 IEEE International Conference on Robotics and Automation (ICRA)

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2021
49% acceptance rate (1,946/4,005)
https://zhaohanphd.com/publications/icra21-investigation-of-multiple-resource-theory-design-principles-robot-teleoperation-workload-management/
Zhao Han, Daniel Giger, Jordan Allspaw, Michael S. Lee (CMU), Henny Admoni (CMU), and Holly A. Yanco

Building The Foundation of Robot Explanation Generation Using Behavior Trees

ACM Transactions on Human-Robot Interaction (THRI)

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2021
https://zhaohanphd.com/publications/thri21a-building-the-foundation-of-robot-explanation-generation-using-behavior-trees/
Shelly Bagchi, Jason R. Wilson, Muneeb I. Ahmad, Christian Dondrup, Zhao Han, Justin W. Hart, Matteo Leonetti, Katrin Lohan, Ross Mead, Emmanuel Senft, Jivko Sinapov and Megan L. Zimmerman

Proceedings of the AI-HRI Symposium at AAAI-FSS 2020

2020 AAAI Fall Symposium on The Artificial Intelligence for Human-Robot Interaction (AI-HRI)

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2020
https://zhaohanphd.com/publications/ai-hri-2020-proceedings/
Zhao Han, Alexander Wilkinson, Jenna Parrillo, Jordan Allspaw, and Holly A. Yanco

Projection Mapping Implementation: Enabling Direct Externalization of Perception Results and Action Intent to Improve Robot Explainability

2020 AAAI Fall Symposium on The Artificial Intelligence for Human-Robot Interaction (AI-HRI)

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2020
https://zhaohanphd.com/publications/aihri20-projection-mapping-implementation-enabling-direct-externalization-of-perception-results-and-action-intent-to-improve-robot-explainability/
Tyler Frasca* (Tufts), Zhao Han*, Jordan Allspaw, Holly Yanco, and Matthias Scheutz (Tufts)

Going Cognitive: A Demonstration of the Utility of Task-General Cognitive Architectures for Adaptive Robotic Task Performance

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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2020
* Equal contribution; 47% acceptance rate (1,409/2,996)
https://zhaohanphd.com/publications/iros20-going-cognitive-a-demonstration-of-the-utility-of-task-general-cognitive-architectures-for-adaptive-robotic-task-performance/
Zhao Han and Holly A. Yanco

Reasons People Want Explanations After Unrecoverable Pre-Handover Failures

ICRA 2020 Workshop on Human-Robot Handovers

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2020
https://zhaohanphd.com/publications/icra20ws-reasons-people-want-explanations-after-unrecoverable-pre-handover-failures/
Zhao Han, Jordan Allspaw, Gregory LeMasurier, Jenna Parrillo, Daniel Giger, S. Reza Ahmadzadeh and Holly A. Yanco

Towards Mobile Multi-Task Manipulation in a Confined and Integrated Environment with Irregular Objects

2020 IEEE International Conference on Robotics and Automation (ICRA)

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2020
42% acceptance rate (1,483/3,512)
https://zhaohanphd.com/publications/icra20-towards-mobile-multi-task-manipulation-in-a-confined-and-integrated-environment-with-irregular-objects/
Zhao Han, Jordan Allspaw, Adam Norton and Holly Yanco

Towards A Robot Explanation System: A Survey and Our Approach to State Summarization, Storage and Querying, and Human Interface

2019 AAAI Fall Symposium on The Artificial Intelligence for Human-Robot Interaction (AI-HRI)

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2019
Full paper, 8 pages
https://zhaohanphd.com/publications/aihri19-towards-a-robot-explanation-system-a-survey-and-our-approach-to-state-summarization-storage-and-querying-and-human-interface/
Zhao Han and Holly A. Yanco

The Effects of Proactive Release Behaviors During Human-Robot Handovers

2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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2019
28% acceptance rate
https://zhaohanphd.com/publications/hri19-the-effects-of-proactive-release-behaviors-during-human-robot-handovers/
Zhao Han

Investigating Human-Robot Handover Release Behaviors

2018 New England Manipulation Symposium (NEMS)

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2018
Poster
https://zhaohanphd.com/publications/nems18-investigating-human-robot-handover-release-behaviors/
Zhao Han

Delivering Scalable Frequent Pattern Mining for Non-Expert Data Miners

University of Manitoba

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2016
https://zhaohanphd.com/publications/ms-thesis-delivering-scalable-frequent-pattern-mining-for-non-expert-data-miners/
Patrick M. J. Dubois, Zhao Han, Fan Jiang and Carson K. Leung

An Interactive Circular Visual Analytic Tool for Visualization of Web Data

2016 IEEE WIC ACM International Conference on Web Intelligence (WI)

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2016
Zhao Han and Carson K. Leung

FIMaaS: Scalable Frequent Itemset Mining-as-a-Service on Cloud for Non-Expert Miners

2015 IEEE First International Conference on Big Data Applications and Services (BigDAS)

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2015
https://zhaohanphd.com/publications/bigdas15-fimaas-scalable-frequent-itemset-mining-as-a-service-cloud-non-expert-miners/
Alfredo Cuzzocrea, Zhao Han, Fan Jiang, Carson K. Leung and Hao Zhang

Edge-based mining of frequent subgraphs from graph streams

19th International Conference on Knowledge-Based and Intelligent Information & Engineering Systems (KES)

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2015
https://zhaohanphd.com/publications/kes15-edge-based-mining-frequent-subgraphs-graph-streams/