Publications

2025

Giordano Arcieri, Gregory LeMasurier, and Holly Yanco. Accounting for Context: Generating Explanations for Robot Failures with Large Language Models. In Proceedings of the 19th International Symposium on Experimental Robotics (ISER) 2025, Santa Fe, NM, USA, July 2025.

Gregory LeMasurier. Enabling Novices to Diagnose Robot Failures by Aligning Users' Mental Models of Robots. ACM Conference on User Modeling, Adaptation and Personalization (UMAP 25) Doctoral Consortium, New York City, NY, USA. June 2025.

Gregory LeMasurier, Giordano Arcieri, and Holly Yanco. The Importance of Word Choice for Trusting Robot Explanations. IEEE ICRA 2025 Workshop on Public Trust in Autonomous Systems (PTAS), Atlanta, GA, USA, May 2025.

Selen Türkay, Maciej K. Wozniak, Gregory LeMasurier, Glenda Caldwell, Jasper Vermeulen, and Alan G. Burden. Virtual, Augmented, and Mixed Reality for Human-Robot Interaction (VAM-HRI). In Proceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction (HRI '25), pp. 1985–1987, March 2025.

2024

Gregory LeMasurier, Christian Tagliamonte, Jacob Breen, Daniel Maccaline, and Holly A. Yanco. Templated vs. Generative: Explaining Robot Failures. In Proceedings of the 2024 IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Pasadena, CA, August 2024.

Gregory LeMasurier, James Tukpah, Murphy Wonsick, Jordan Allspaw, Brendan Hertel, Jacob Epstein, Reza Azadeh, Taskin Padir, Holly A. Yanco, and Elizabeth Phillips. Comparing a 2D Keyboard and Mouse Interface to Virtual Reality for Human-in-the-Loop Robot Planning for Mobile Manipulation. In Proceedings of the 2024 IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Pasadena, CA, August 2024.

Gregory LeMasurier, Alvika Gautam, Zhao Han, Jacob W. Crandall, and Holly A. Yanco. Reactive or Proactive? How Robots Should Explain Failures. In Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI ’24), Boulder, CO, March 2024.(24.9% acceptance rate)

Christian Tagliamonte*, Daniel Maccaline*, Gregory LeMasurier, and Holly A. Yanco. A Generalizable Architecture for Explaining Robot Failures Using Behavior Trees and Large Language Models. Late Breaking Report, In Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI ’24), Boulder, CO, March 2024.

Jordan Allspaw, Gregory LeMasurier, Elizabeth Phillips, and Holly A. Yanco. Participant Training for Virtual Reality User Studies: Lessons Learned and Open Questions. ACM/IEEE HRI 2024 Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interactions (VAM-HRI), Boulder, CO, March 2024.

2023

Jordan Allspaw, Gregory LeMasurier, and Holly A. Yanco. Comparing Performance Between Different Implementations of ROS for Unity. ACM/IEEE HRI 2023 Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interactions (VAM-HRI), Stockholm, Sweden, March 2023.

2022

Gregory LeMasurier. MS Thesis: Design of a Smartphone Application to Provide Shopping Assistance to People Who Are Blind or Have Low Vision. University of Massachusetts Lowell, Lowell, MA. May 2022.

Gregory LeMasurier, Jordan Allspaw, Murphy Wonsick, James Tukpah, Taskin Padir, Holly Yanco, and Elizabeth Phillips. Designing a User Study for Comparing 2D and VR Human-in-the-Loop Robot Planning Interfaces. ACM/IEEE HRI 2022 Workshop on 5th International Workshop on Virtual, Augmented, and Mixed Reality for HRI, March 2022.

Gregory LeMasurier, Alvika Gautam, Zhao Han, Jacob Crandall, Holly Yanco. “Why Didn’t I Do It?” A Study Design to Evaluate Robot Explanations. ACM/IEEE HRI 2022 Workshop on Workshop YOUR study design! Participatory critique and refinement of participants’ studies, March 2022.

2021

Gregory LeMasurier, Gal Bejerano, Victoria Albanese, Jenna Parrillo, Holly A. Yanco, Nicholas Amerson, Rebecca Hetrick, and Elizabeth Phillips. Methods for Expressing Robot Intent for Human–Robot Collaboration in Shared Workspaces. ACM Transactions on Human-Robot Interaction (THRI), Volume 10, Issue 4, Article 40, December 2021.

Gregory LeMasurier, Holly A. Yanco, Shopping Assistance for People Who Are Blind or Have Low Vision. ICORR 2021 Peer Reviewed Abstract, September 2021.

Gregory LeMasurier, Jordan Allspaw, and Holly A. Yanco. Semi-Autonomous Planning and Visualization in Virtual Reality. ACM/IEEE HRI 2021 Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interactions (VAM-HRI), March 2021.

2020

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. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2020, June 2020.

Jordan Allspaw, Gregory LeMasurier, and Holly Yanco. Implementing Virtual Reality for Teleoperation of a Humanoid Robot. ACM/IEEE HRI 2020 Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interactions (VAM-HRI), March 2020.

2018

Gal Bejerano, Gregory LeMasurier, and Holly A. Yanco. Methods for Providing Indications of Robot Intent in Collaborative Human-Robot Tasks. Late Breaking Report, Proceedings of the 13th Annual ACM/IEEE International Conference on Human-Robot Interaction, Chicago, IL, March 2018.