Journal


B. Akgun, M. Cakmak, K. Jiang and A.L. Thomaz. Keyframe-based Learning from Demonstration. International Journal on Social Robotics - Special Issue on Learning from Demonstration (in review), April, 2012.
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S. Srinivasa, S. Berenson, M. Cakmak, A. Collet, M. Dogar, A. Dragan, R. Knepper, T. Niemueller, K. Strabala, M. Vande Weghe, and J. Ziegler. HERB 2.0: Lessons Learned from Developing a Mobile Manipulator for the Home. Proceedings of the IEEE, (in press), January, 2012.
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M. Cakmak, C. Chao and A.L. Thomaz. Designing Interactions for Robot Active Learners. IEEE Transactions on Autonomous Mental Development, March, 2010.
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M. Cakmak, N. DePalma, A.L. Thomaz and R. Arriaga. Exploiting social partners in robot learning. Autonomous Robots, July, 2010.
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E. Sahin, M. Cakmak, M.R. Dogar, E. Ugur and G. Ucoluk. To afford or not to afford: A new formalization of affordances towards affordance-based robot control. Adaptive Behavior, December, 2007.
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Conference


M. Cakmak and M. Lopes. Human and Algorithmic Teaching of Sequential Decision Tasks. Conference on Artificial Intelligence (AAAI), 2012.
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M. Cakmak and A.L. Thomaz. Designing Robot Learners that Ask Good Questions. International Conference on Human-Robot Interaction (HRI), 2012.
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B. Akgun, M. Cakmak, J.W. Yoo and A.L. Thomaz. Trajectories and Keyframes for Kinesthetic Teaching: A Human-Robot Interaction Perspective. International Conference on Human-Robot Interaction (HRI), 2012.
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M. Cakmak, S.S. Srinivasa, M.K. Lee, J. Forlizi and S. Kiesler. Human Preferences for Robot-Human Hand-over Configurations. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
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M. Cakmak, S.S. Srinivasa, M.K. Lee, S. Kiesler and J. Forlizi. Using Spatial and Temporal Contrast for Fluent Robot-Human Hand-overs. International Conference on Human-Robot Interaction (HRI), 2011.
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M. Cakmak and A.L. Thomaz. Optimality of Human Teachers for Robot Learners. IEEE International Conference on Development and Learning (ICDL), 2010.
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C. Chao, M. Cakmak and A.L. Thomaz. Transparent Active Learning for Robots. International Conference on Human-Robot Interaction (HRI), 2010.
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A.L. Thomaz and M. Cakmak. Social Learning Mechanisms for Robots. International Symposium on Robotics Research (ISRR), 2009.
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M. Cakmak, N. DePalma, A.L. Thomaz and R. Arriaga . Effects of Social Exploration Mechanisms on Robot Learning. IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2009.
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M. Cakmak, N. DePalma, R. Arriaga and A.L. Thomaz. Computational Benefits of Social Learning Mechanisms: Stimulus Enhancement and Emulation. Best Student Paper Award winner. IEEE International Conference on Development and Learning (ICDL), 2009.
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A.L. Thomaz and M. Cakmak. Learning about Objects with Human Teachers. International Conference on Human-Robot Interaction (HRI), 2009.
PDF | Video | BIB

M.R. Dogar, E. Ugur, E. Sahin and M. Cakmak. Using Learned Affordances for Robotic Behavior Development. IEEE International Conference on Robotics and Automation (ICRA), 2008.
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M. Cakmak, M.R. Dogar, E. Ugur and E. Sahin. Affordances as a Framework for Robot Control. 7th International Conference on Epigenetic Robotics (EpiRob), 2007.
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M.R. Dogar, M. Cakmak, E. Ugur and E. Sahin. From Primitive Behaviors to Goal-Directed Behavior Using Affordances. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007.
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E. Ugur, M.R. Dogar, M. Cakmak and E. Sahin. Curiosity-driven Learning of Traversability Affordance on a Mobile Robot. IEEE International Conference on Development and Learning (ICDL), 2007.
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E. Ugur, M.R. Dogar, M. Cakmak and E. Sahin. The learning and use of traversability affordance using range images on a mobile robot. IEEE International Conference on Robotics and Automation (ICRA), 2007.
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Workshop and Work-in-Progress


M. Cakmak and A.L. Thomaz. Mixed-Initiative Active Learning. International Conference on Machine Learning - Workshop on Combining Learning Strategies to Reduce Label Cost, 2011.
PDF | Poster

M. Cakmak and A.L. Thomaz. Active Learning with Mixed Query Types in Learning from Demonstration. International Conference on Machine Learning - Workshop on New Developments in Imitation Learning, 2011.
PDF | Poster

B. Akgun, M. Cakmak, J.W. Yoo and A.L. Thomaz. Augmenting Kinesthetic Teaching with Keyframes. International Conference on Machine Learning - Workshop on New Developments in Imitation Learning, 2011.
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M.K. Lee, J. Forlizzi, S. Kiesler, M. Cakmak, S.S. Srinivasa. Predictability or Adaptivity? Designing Robot Handoffs Modeled from Trained Dogs and People HRI Late-breaking Report, International Conference on Human-Robot Interaction, 2011.
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Theses


Robot Planning Based on Learned Affordances.
M. Cakmak.
M.Sc. Thesis, Middle East Technical University, Ankara, July 2007.
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Technical Reports


Sahin, E. Rome, L. Paletta, R. Breithaupt, G. Dorffner, M.R. Dogar, C. Lorken, E. Ugur, M. Cakmak, A.E. Turgut, F. Kintzler, G. Fritz, H. Surmann. Implementation of the Affordance-based Control Architecture. MACS Technical Report MACS/2/3.1, Fraunhofer AIS, Sankt Augustin, 2007.

E. Sahin, E. Ugur and M. Cakmak. Evaluation of existing control architectures for using affordances. MACS Technical Report MACS/2/2.1, KOVAN Research Lab., Department of Computer Engineering, Middle East Technical University, Ankara, 2006.

E. Rome, E. Sahin, R. Breithaupt, J. Irran, F. Kintzler, L. Paletta, M. Cakmak, E. Ugur, G. Ucoluk, M.R. Dogar, P. Rudol, G. Fritz, G. Dorffner, P. Doherty, M. Wzorek, H. Surmann, C. Lorken. Development of an Affordance-based Control Architecture. MACS Technical Report MACS/2/2.2, Fraunhofer AIS, Sankt Augustin, 2006.

E. Ugur, M.R. Dogar, O. Soysal, M. Cakmak and E. Sahin. MACSim: Physics-based Simulation of the KURT3D Robot Platform for Studying Affordances. MACS Technical Report MACS/1/2.1, KOVAN Research Lab., Department of Computer Engineering, Middle East Technical University, Ankara, 2006.

E. Ugur, M.R. Dogar, O. Soysal, M. Cakmak, R. Breithaupt and E. Sahin. Modeling of the final demonstrator scenario in a physics-based simulator. MACS Technical Report MACS/6/6.2, KOVAN Research Lab., Department of Computer Engineering, Middle East Technical University, Ankara, 2006.