Hoffman, G. (Invited; in review). Embodied Cognition for Interactive Robots. TopiCS in Cognitive Science.

Hoffman, G., & Weinberg, G. (2011). Interactive improvisation with a robotic marimba player. Autonomous Robots.

Hoffman, G., &  Breazeal, C. (2010) Effects of Anticipatory Perceptual Simulation on Practiced Human-Robot Tasks. Autonomous Robots, 28(4).

Hoffman, G., & Breazeal, C. (2007). Cost-Based Anticipatory Action Selection for Human-Robot Fluency. IEEE Transactions on Robotics, 23(5).

Brooks, A., Gray, J., Hoffman, G., Lockerd, A., Lee, H., & Breazeal, C. (2004). Robot's Play: Interactive Games with Sociable Machines. ACM Computers in Entertainment, 2(3).

Breazeal, C., Brooks, A., Gray, J., Hoffman, G., Kidd, C., Lee, H., Lieberman, J., Lockerd, A., & Chilongo, D. (2004). Tutelage and Collaboration for Humanoid Robots. International Journal of Humanoid Robotics, 1(2).

Hoffman, G., & Weinberg, G. (In press). Interactive Improvisation with a Robotic Marimba Player. In J. Solis, & K. Ng (Eds.),  Musical Robots and Multimodal Interactive Multimodal Systems.

Hoffman, G., & Weinberg, G. (2010). Synchronization in Human-Robot Musicianship. Proceedings of the 19th International Symposium on Robot and Human Interactive Communication (RO-MAN'10).

Hoffman, G., & Weinberg, G. (2010). Gesture-based Human-Robot Jazz Improvisation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'10). Best Paper Award (Cognitive Robotics).

Hoffman, G., Kubat, R., & Breazeal, C. (2008). A Hybrid Control System for Puppeteering a Live Robotic Stage Actor. Proceedings of the 17th International Symposium on Robot and Human Interactive Communication (RO-MAN'08). Best Paper Award (Cognitive HRI).

Hoffman, G., & Breazeal, C. (2008). Anticipatory Perceptual Simulation for Human-Robot Joint Practice: Theory and Application Study. Proceedings of the 23rd AAAI Conference for Artificial Intelligence (AAAI'08).

Hoffman, G. & Breazeal, C. (2008). Achieving fluency through perceptual-symbol practice in human-robot collaboration. Proceedings of the third ACM/IEEE International Conference on Human-Robot Interaction (HRI-08).

Hoffman, G., & Breazeal, C. (2007) Effects of Anticipatory Action on Human-robot Teamwork: Efficiency, Fluency, and Perception of Team. Proceedings of the ACM/IEEE international conference on Human-Robot Interaction (HRI’07). Best Student Paper Award.

Hoffman, G. (2006). Time Bracketing. Proceedings of the 1st International Conference on Digital Interactive Media in Entertainment (DIMEʼ06).

Thomaz, A. L., Hoffman, G., & Breazeal, C. (2006). Reinforcement Learning with Human Teachers: Understanding How People Want to Teach Robots. Proceedings of the 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MANʼ06).

Thomaz, A. L., Hoffman, G., & Breazeal, C.(2006). Experiments in Socially Guided Machine Learning: Understanding Human Intent of Reward/Punishment, Proceedings of the ACM/IEEE international conference on Human-Robot Interaction (HRIʼ06). Best Student Poster Award.

Breazeal, C., Kidd, C., Thomaz, A. L., Hoffman, G., & Berlin, M. (2005). Effects of Nonverbal Communication on Efficiency and Robustness in Human-robot Teamwork. Proceedings of the IROS.

Breazeal, C., Brooks, A., Chilongo, D., Gray, J., Hoffman, G., Kidd, C., Lee, H., Lieberman, J., & Lockerd, A. (2004). Working Collaboratively with Humanoid Robots. Proceedings of IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoidsʼ04).

Hoffman, G., and Breazeal, C.(2004). Collaboration in Human-Robot Teams , Proceedings of the 1st AIAAʼ04 Intelligent Systems Conference. Best Session Paper Award.

Breazeal, C., Gray, J., Hoffman, G., & Berlin, M. (2004). Social Robots: Beyond Tools to Partners, Proceedings of the IEEE International Workshop on Robot and Human Interactive Communication (RO-MANʼ04).

Breazeal, C., Hoffman, G., & Lockerd, A. (2004). Teaching and working with robots as a collaboration. Proceedings of Third International Joint Conference on Autonomous Agents and Multi-agent Systems (AAMASʼ04).

Brooks, A., Gray, J., Hoffman, G., Lockerd, A., Lee, H., & Breazeal, C. (2004). Robot's play: Interactive Games with Sociable Machines. Proceedings of the International Conference on Advances in Computer Entertainment (ACEʼ04).

Hoffman, G. (2011). On Stage: Robots as Performers. Robotic: Science and Systems Workshop on Human-Robot Interaction.

Gray, J., Hoffman, G., Adalgeirsson, S. O., Berlin, M., & Breazeal, C. (2010). Expressive, Interactive Robots: Tools, Techniques, and Insights Based on Collaborations. HRI 2010. 

Hoffman, G. (2010). Anticipation in Human-Robot Interaction. AAAI 2010 Spring Symposium.

Hoffman, G. (2006). Acting Lessons for Artificial Intelligence. 50th Anniversary Summit of Artificial Intelligence.

Hoffman, G., & Breazeal, C. (2006). Robotic Partners’ Bodies and Minds: An Embodied Approach to Fluid Human-Robot Collaboration. Fifth International Workshop on Cognitive Robotics (CogRob’06).

Hoffman, G., & Breazeal, C. (2006). What Lies Ahead? Expectation Management in Human-Robot Collaboration.  AAAI 2006 Spring Symposium.

Thomaz, A. L., Hoffman, G., & Breazeal, C. (2005). Real-time Interactive Reinforcement Learning for Robots. AAAI 2005 Workshop on Human Comprehensible Machine Learning.

Hoffman, G., & Breazeal, C. (2004) Robots that Work in Collaboration with People. AAAI Fall Symposium on the Intersection of Cognitive Science and Robotics.