{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,14]],"date-time":"2026-07-14T04:34:43Z","timestamp":1784003683546,"version":"3.55.0"},"publisher-location":"New York, NY, USA","reference-count":59,"publisher":"ACM","funder":[{"name":"NSF CAREER Program","award":["2441766"],"award-info":[{"award-number":["2441766"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2025,9,28]]},"DOI":"10.1145\/3746059.3747616","type":"proceedings-article","created":{"date-parts":[[2025,9,27]],"date-time":"2025-09-27T07:50:36Z","timestamp":1758959436000},"page":"1-19","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":8,"title":["WORM: Programming Collaborative Robots Through Manual Actions for Craft-Aligned Digital Fabrication"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7085-8326","authenticated-orcid":false,"given":"Samuelle","family":"Bourgault","sequence":"first","affiliation":[{"name":"University of California, Santa Barbara, Santa Barbara, California, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2122-0451","authenticated-orcid":false,"given":"Alejandro","family":"Aponte","sequence":"additional","affiliation":[{"name":"University of California, Santa Barbara, Santa Barbara, California, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-2198-6066","authenticated-orcid":false,"given":"Megumi","family":"Ondo","sequence":"additional","affiliation":[{"name":"University of California, Santa Barbara, Santa Barbara, California, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0170-200X","authenticated-orcid":false,"given":"Emilie","family":"Yu","sequence":"additional","affiliation":[{"name":"University of California, Santa Barbara, Santa Barbara, California, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8666-8527","authenticated-orcid":false,"given":"Jennifer","family":"Jacobs","sequence":"additional","affiliation":[{"name":"University of California, Santa Barbara, Santa Barbara, California, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2025,9,27]]},"reference":[{"key":"e_1_3_3_2_2_2","unstructured":"AATB. 2020. Handshake. https:\/\/www.aatb.ch\/archive\/handshake"},{"key":"e_1_3_3_2_3_2","doi-asserted-by":"publisher","unstructured":"Jacopo Aleotti and Stefano Caselli. 2010. Interactive teaching of task-oriented robot grasps. Robotics and Autonomous Systems 58 5 (May 2010) 539\u2013550. 10.1016\/j.robot.2010.01.004","DOI":"10.1016\/j.robot.2010.01.004"},{"key":"e_1_3_3_2_4_2","unstructured":"Paul Bakker. 1996. Robot See Robot Do : An Overview of Robot Imitation. https:\/\/www.semanticscholar.org\/paper\/Robot-See%2C-Robot-Do-%3A-An-Overview-of-Robot-Bakker\/6b03f27add50bcec07a5eb736c68c1acccae0843"},{"key":"e_1_3_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2012.6343743"},{"key":"e_1_3_3_2_6_2","unstructured":"Paul Bourgault. 2011. All\u00e9gorie de la peinture. https:\/\/paulbourgaulten.weebly.com\/2011.html"},{"key":"e_1_3_3_2_7_2","unstructured":"Paul Bourgault. 2023. B(A)ba. https:\/\/paulbourgaulten.weebly.com\/2021-2023.html"},{"key":"e_1_3_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1145\/3643834.3661599"},{"key":"e_1_3_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1145\/3544548.3580745"},{"key":"e_1_3_3_2_10_2","unstructured":"Kachi Chan. 2022. Sisyphus - A Robotic Art Installation. https:\/\/vimeo.com\/719825068"},{"key":"e_1_3_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1145\/3029798.3038325"},{"key":"e_1_3_3_2_12_2","unstructured":"Sougwen Chung. 2022. Assembly Lines. https:\/\/sougwen.com\/project\/assembly-lines-2022"},{"key":"e_1_3_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376820"},{"key":"e_1_3_3_2_14_2","doi-asserted-by":"publisher","unstructured":"Simon Duenser Roi Poranne Bernhard Thomaszewski and Stelian Coros. 2020. RoboCut: hot-wire cutting with robot-controlled flexible rods. ACM Trans. Graph. 39 4 (Aug. 2020) 98:98:1\u201398:98:15. 10.1145\/3386569.3392465","DOI":"10.1145\/3386569.3392465"},{"key":"e_1_3_3_2_15_2","doi-asserted-by":"publisher","unstructured":"Shirine El\u00a0Zaatari Mohamed Marei Weidong Li and Zahid Usman. 2019. Cobot programming for collaborative industrial tasks: An overview. Robotics and Autonomous Systems 116 (June 2019) 162\u2013180. 10.1016\/j.robot.2019.03.003","DOI":"10.1016\/j.robot.2019.03.003"},{"key":"e_1_3_3_2_16_2","doi-asserted-by":"crossref","unstructured":"Kerstin Fischer Franziska Kirstein Lars\u00a0Christian Jensen Norbert Kr\u00fcger Kamil Kukli\u0144ski Maria\u00a0Vanessa aus\u00a0der Wieschen and Thiusius\u00a0Rajeeth Savarimuthu. 2016. A Comparison of Types of Robot Control for Programming by Demonstration(HRI \u201916). IEEE Press Christchurch New Zealand 213\u2013220.","DOI":"10.1109\/HRI.2016.7451754"},{"key":"e_1_3_3_2_17_2","unstructured":"Madeline Gannon. 2016. Mimus. https:\/\/atonaton.com\/mimus"},{"key":"e_1_3_3_2_18_2","unstructured":"Madeline Gannon. 2023. Breathing Life into Machines. https:\/\/www.youtube.com\/watch?v=aOOswqVLTOo"},{"key":"e_1_3_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1145\/2702123.2702581"},{"key":"e_1_3_3_2_20_2","doi-asserted-by":"publisher","unstructured":"Dr\u00a0A.\u00a0Shaji George and A.\u00a0S.\u00a0Hovan George. 2023. The Cobot Chronicles: Evaluating the Emergence Evolution and Impact of Collaborative Robots in Next-Generation Manufacturing. Partners Universal International Research Journal 2 2 (June 2023) 89\u2013116. 10.5281\/zenodo.8021406Number: 2.","DOI":"10.5281\/zenodo.8021406"},{"key":"e_1_3_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1145\/3643834.3660758"},{"key":"e_1_3_3_2_22_2","doi-asserted-by":"publisher","unstructured":"Mare Hirsch Gabrielle Benabdallah Jennifer Jacobs and Nadya Peek. 2023. Nothing Like Compilation: How Professional Digital Fabrication Workflows Go Beyond Extruding Milling and Machines. ACM Trans. Comput.-Hum. Interact. 31 1 (Nov. 2023) 13:1\u201313:45. 10.1145\/3609328","DOI":"10.1145\/3609328"},{"key":"e_1_3_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1145\/2858036.2858266"},{"key":"e_1_3_3_2_24_2","doi-asserted-by":"publisher","unstructured":"Tim Ingold. 2010. The Textility of Making. 10.1093\/cje\/bep042","DOI":"10.1093\/cje\/bep042"},{"key":"e_1_3_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1145\/3173574.3174164"},{"key":"e_1_3_3_2_26_2","unstructured":"Chava\u00a0Pearl Lansky. 2020. How Quantum Physicist Ballerina Merritt Moore Learned to Dance With a Robot (Plus Her Newest Film). https:\/\/pointemagazine.com\/merritt-moore-ballet\/"},{"key":"e_1_3_3_2_27_2","doi-asserted-by":"publisher","unstructured":"Guoliang Liu Wenlei Sun and Pinwen Li. 2024. Motion capture and AR based programming by demonstration for industrial robots using handheld teaching device. Scientific Reports 14 1 (Oct. 2024) 23259. 10.1038\/s41598-024-73747-4Publisher: Nature Publishing Group.","DOI":"10.1038\/s41598-024-73747-4"},{"key":"e_1_3_3_2_28_2","doi-asserted-by":"publisher","unstructured":"Hongyi Liu and Lihui Wang. 2018. Gesture recognition for human-robot collaboration: A review. International Journal of Industrial Ergonomics 68 (Nov. 2018) 355\u2013367. 10.1016\/j.ergon.2017.02.004","DOI":"10.1016\/j.ergon.2017.02.004"},{"key":"e_1_3_3_2_29_2","doi-asserted-by":"publisher","unstructured":"Li Liu Fu Guo Zishuai Zou and Vincent\u00a0G. Duffy. 2024. Application Development and Future Opportunities of Collaborative Robots (Cobots) in Manufacturing: A Literature Review. International Journal of Human\u2013Computer Interaction 40 4 (Feb. 2024) 915\u2013932. 10.1080\/10447318.2022.2041907Publisher: Taylor & Francis _eprint: https:\/\/doi.org\/10.1080\/10447318.2022.2041907.","DOI":"10.1080\/10447318.2022.2041907"},{"key":"e_1_3_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1145\/3424630.3425415"},{"key":"e_1_3_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376547"},{"key":"e_1_3_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3501842"},{"key":"e_1_3_3_2_33_2","doi-asserted-by":"publisher","unstructured":"Ilan Moyer. 2016. Personal fabrication: from automated machines to augmented tools. XRDS 22 3 (April 2016) 28\u201331. 10.1145\/2896905","DOI":"10.1145\/2896905"},{"key":"e_1_3_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1145\/3654777.3676385"},{"key":"e_1_3_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1145\/3613904.3642361"},{"key":"e_1_3_3_2_36_2","doi-asserted-by":"publisher","unstructured":"Rainer M\u00fcller Matthias Vette and Ortwin Mailahn. 2016. Process-oriented Task Assignment for Assembly Processes with Human-robot Interaction. Procedia CIRP 44 (Jan. 2016) 210\u2013215. 10.1016\/j.procir.2016.02.080","DOI":"10.1016\/j.procir.2016.02.080"},{"key":"e_1_3_3_2_37_2","volume-title":"Forces of production: a social history of industrial automation","author":"Noble David\u00a0F.","year":"2011","unstructured":"David\u00a0F. Noble. 2011. Forces of production: a social history of industrial automation. Transaction Publishers, New Brunswick, N.J."},{"key":"e_1_3_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.932594"},{"key":"e_1_3_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1145\/3173574.3174153"},{"key":"e_1_3_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1145\/3357236.3395474"},{"key":"e_1_3_3_2_41_2","doi-asserted-by":"publisher","unstructured":"Alec Rivers Ilan\u00a0E. Moyer and Fr\u00e9do Durand. 2012. Position-correcting tools for 2D digital fabrication. ACM Trans. Graph. 31 4 (July 2012) 88:1\u201388:7. 10.1145\/2185520.2185584","DOI":"10.1145\/2185520.2185584"},{"key":"e_1_3_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1145\/3068796.3068801"},{"key":"e_1_3_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1109\/RoMoCo.2013.6614614"},{"key":"e_1_3_3_2_44_2","doi-asserted-by":"publisher","unstructured":"Casper Schou Rasmus\u00a0Skovgaard Andersen Dimitrios Chrysostomou Simon B\u00f8gh and Ole Madsen. 2018. Skill-based instruction of collaborative robots in industrial settings. Robotics and Computer-Integrated Manufacturing 53 (Oct. 2018) 72\u201380. 10.1016\/j.rcim.2018.03.008","DOI":"10.1016\/j.rcim.2018.03.008"},{"key":"e_1_3_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1109\/ISR.2013.6695599"},{"key":"e_1_3_3_2_46_2","doi-asserted-by":"publisher","unstructured":"Franz Steinmetz Annika Wollschl\u00e4ger and Roman Weitschat. 2018. RAZER\u2014A HRI for Visual Task-Level Programming and Intuitive Skill Parameterization. IEEE Robotics and Automation Letters 3 3 (July 2018) 1362\u20131369. 10.1109\/LRA.2018.2798300Conference Name: IEEE Robotics and Automation Letters.","DOI":"10.1109\/LRA.2018.2798300"},{"key":"e_1_3_3_2_47_2","unstructured":"Stelarc. 2003. Muscle Machine. https:\/\/stelarc.org\/_activity-20231.php"},{"key":"e_1_3_3_2_48_2","doi-asserted-by":"publisher","DOI":"10.1145\/3706598.3713354"},{"key":"e_1_3_3_2_49_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3517719"},{"key":"e_1_3_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1145\/3472749.3474749"},{"key":"e_1_3_3_2_51_2","doi-asserted-by":"publisher","DOI":"10.1145\/3332165.3347918"},{"key":"e_1_3_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.1145\/3643834.3661522"},{"key":"e_1_3_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1145\/3559400.3562003"},{"key":"e_1_3_3_2_54_2","doi-asserted-by":"publisher","DOI":"10.1145\/3613904.3642751"},{"key":"e_1_3_3_2_55_2","doi-asserted-by":"publisher","unstructured":"Valeria Villani Fabio Pini Francesco Leali Cristian Secchi and Cesare Fantuzzi. 2018. Survey on Human-Robot Interaction for Robot Programming in Industrial Applications. IFAC-PapersOnLine 51 11 (Jan. 2018) 66\u201371. 10.1016\/j.ifacol.2018.08.236","DOI":"10.1016\/j.ifacol.2018.08.236"},{"key":"e_1_3_3_2_56_2","unstructured":"Joey Watson. 2016. Beverage Vessel with Squiggle Tread & Zig Zag Straw. https:\/\/hieronymusobjects.com\/beverage-vessel-with-squiggle-tread-zig-zag-straw-joey-watson-2"},{"key":"e_1_3_3_2_57_2","unstructured":"Joey Watson. 2023. Pupation. https:\/\/www.instagram.com\/sbmuseart\/p\/C4lLlKurHm6\/?locale=zh_CN&img_index=2"},{"key":"e_1_3_3_2_58_2","unstructured":"Jordan Wolfson. 2023. Body Sculpture. https:\/\/www.davidzwirner.com\/artworks\/jordan-wolfson-body-sculpture-a90e9"},{"key":"e_1_3_3_2_59_2","doi-asserted-by":"publisher","DOI":"10.1145\/3607822.3614528"},{"key":"e_1_3_3_2_60_2","doi-asserted-by":"publisher","DOI":"10.1145\/2470654.2481361"}],"event":{"name":"UIST '25: The 38th Annual ACM Symposium on User Interface Software and Technology","location":"Busan Republic of Korea","acronym":"UIST '25","sponsor":["SIGCHI ACM Special Interest Group on Computer-Human Interaction","SIGGRAPH ACM Special Interest Group on Computer Graphics and Interactive Techniques"]},"container-title":["Proceedings of the 38th Annual ACM Symposium on User Interface Software and Technology"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3746059.3747616","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,27]],"date-time":"2025-09-27T12:59:04Z","timestamp":1758977944000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3746059.3747616"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,27]]},"references-count":59,"alternative-id":["10.1145\/3746059.3747616","10.1145\/3746059"],"URL":"https:\/\/doi.org\/10.1145\/3746059.3747616","relation":{},"subject":[],"published":{"date-parts":[[2025,9,27]]},"assertion":[{"value":"2025-09-27","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}