| 2026 | HRI | What You Reward Is What You Learn: Comparing Rewards for Online Speech Policy Optimization in Public HRI. | Sichao Song, Yuki Okafuji, Kaito Ariu, Amy Koike |
| 2026 | HRI | From Metrics to Meaning: Insights from a Mixed-Methods Field Experiment on Retail Robot Deployment. | Sichao Song, Yuki Okafuji, Takuya Iwamoto, Jun Baba, Hiroshi Ishiguro |
| 2026 | HRI | Practical Insights into Designing Context-Aware Robot Voice Parameters in the Wild. | Amy Koike, Yuki Okafuji, Sichao Song |
| 2026 | WACV | Robust Multimodal Emotion Recognition from Incomplete Modalities via Query-Based Unimodal and Cross-Modal Learning. | Ryo Miyoshi, Mayu Otani, Yuki Okafuji |
| 2025 | CHI | Design Pitfalls in Interactive Sales Robots: A Systematic Analysis and Framework. | Yuki Okafuji, Takuya Iwamoto, Sichao Song |
| 2025 | HRI | What Drives You to Interact?: The Role of User Motivation for a Robot in the Wild. | Amy Koike, Yuki Okafuji, Kenya Hoshimure, Jun Baba |
| 2025 | IROS | A Noise-Robust Turn-Taking System for Real-World Dialogue Robots: A Field Experiment. | Koji Inoue, Yuki Okafuji, Jun Baba, Yoshiki Ohira, Katsuya Hyodo, Tatsuya Kawahara |
| 2025 | IROS | User Experience Estimation in Human-Robot Interaction via Multi-Instance Learning of Multimodal Social Signals. | Ryo Miyoshi, Yuki Okafuji, Takuya Iwamoto, Junya Nakanishi, Jun Baba |
| 2023 | HRI | Out for In!: Empirical Study on the Combination Power of Two Service Robots for Product Recommendation. | Sichao Song, Jun Baba, Yuki Okafuji, Junya Nakanishi, Yuichiro Yoshikawa, Hiroshi Ishiguro |
| 2023 | RO-MAN | Investigating the Influence of Task-dependent and Task-independent Robot Behavior on the Impression of Robots and the User Experience. | Yuki Chamoto, Yuki Okafuji, Kohei Matsumura, Jun Baba, Junya Nakanishi |
| 2023 | RO-MAN | Changes in Embarrassment Through Repeated Interactions with Robots in Public Spaces. | Yuki Okafuji, Yuya Mitsui, Kohei Matsumura, Jun Baba, Junya Nakanishi |
| 2022 | HRI | 3D Head-Position Prediction in First-Person View by Considering Head Pose for Human-Robot EyeContact. | Yuki Tamaru, Yasunori Ozaki, Yuki Okafuji, Junya Nakanishi, Yuichiro Yoshikawa, Jun Baba |
| 2021 | IROS | Persuasion Strategies for Social Robot to Keep Humans Accepting Daily Different Recommendations. | Yuki Okafuji, Jun Baba, Junya Nakanishi, Joichiro Amada, Yuichiro Yoshikawa, Hiroshi Ishiguro |
| 2021 | RO-MAN | Behavioral Changes in Passersby by Expanding Embodiment of a Calling Robot. | Joichiro Amada, Yuki Okafuji, Takahiro Wada, Jun Baba, Junya Nakanishi, Yuichiro Yoshikawa |
| 2020 | HRI | Please Listen to Me: How to Make Passersby Stop by a Humanoid Robot in a Shopping Mall. | Yuki Okafuji, Yasunori Ozaki, Jun Baba, Asano Kitahara, Junya Nakanishi, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro |
| 2020 | SMC | Preliminary Investigation of Visual Information Influencing Driver's Steering Control based on CNN. | Yuki Okafuji, Toshihito Sugiura, Takahiro Wada |
| 2020 | SMC | A Simulation Study on Lane-Change Control of Automated Vehicles to Reduce Motion Sickness Based on a Computational Mode. | Ryosuke Ukita, Yuki Okafuji, Takahiro Wada |
| 2020 | SMC | A Computational Model of Motion Sickness Considering Visual and Vestibular Information. | Takahiro Wada, Junichiro Kawano, Yuki Okafuji, Atsushi Takamatsu, Mitsuhiro Makita |
| 2019 | HRI | Face-to-Face Contact Method for Humanoid Robots Using Face Position Prediction. | Yuki Okafuji, Jun Baba, Junya Nakanishi |