# A Survey on End-User Robot Programming

arXiv: https://arxiv.org/abs/2105.01757 · HTML: https://mlsanity.com/paper/2105.01757/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 May 2021.

## Built on by (most cited first, 6 of 6)

- [Cocobo: Exploring Large Language Models as the Engine for End-User Robot Programming](https://mlsanity.com/paper/2407.20712/) (2024)
- [ALRM: Agentic LLM for Robotic Manipulation](https://mlsanity.com/paper/2601.19510/) (2026)
- [Hierarchical Imitation Learning of Team Behavior from Heterogeneous Demonstrations](https://mlsanity.com/paper/2502.17618/) (2025)
- [GenComUI: Exploring Generative Visual Aids as Medium to Support Task-Oriented Human-Robot Communication](https://mlsanity.com/paper/2502.10678/) (2025)
- [Responsible Personalisation: The Double-Edged Sword of Personalisation in Human-Robot Interaction](https://mlsanity.com/paper/2607.06344/) (2026)
- [Actionable Meta-Requirements for AI Robustness Auditing](https://mlsanity.com/paper/2610.14356/) (2026)

## Abstract (arXiv)

As robots interact with a broader range of end-users, end-user robot programming has helped democratize robot programming by empowering end-users who may not have experience in robot programming to customize robots to meet their individual contextual needs. This article surveys work on end-user robot programming, with a focus on end-user program specification. It describes the primary domains, programming phases, and design choices represented by the end-user robot programming literature. The survey concludes by highlighting open directions for further investigation to enhance and widen the reach of end-user robot programming systems.