Existing visual assistive technologies are built for simple and common use cases, and have few avenues for blind people to customize their functionalities. Drawing from prior work on DIY assistive technology, this paper investigates end-user programming as a means for users to create and customize visual access programs to meet their unique needs. We introduce ProgramAlly, a system for creating custom filters for visual information, e.g., 'find NUMBER on BUS', leveraging three end-user programming approaches: block programming, natural language, and programming by example. To implement ProgramAlly, we designed a representation of visual filtering tasks based on scenarios encountered by blind people, and integrated a set of on-device and cloud models for generating and running these programs. In user studies with 12 blind adults, we found that participants preferred different programming modalities depending on the task, and envisioned using visual access programs to address unique accessibility challenges that are otherwise difficult with existing applications. Through ProgramAlly, we present an exploration of how blind end-users can create visual access programs to customize and control their experiences.

Many industrial tasks--such as sanding, installing fasteners, and wire harnessing--are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot assumes the physical task burden and the skilled worker provides both the high-level task planning and low-level feedback necessary to effectively complete the task. In this article, we describe the development of a system for flexible human-robot teaming that combines state-of-the-art methods in end-user programming and shared autonomy and its implementation in sanding applications. We demonstrate the use of the system in two types of sanding tasks, situated in aircraft manufacturing, that highlight two potential workflows within the human-robot teaming setup. We conclude by discussing challenges Figure 1: In this paper, we describe the development of a and opportunities in human-robot teaming identified during the human-robot teaming solution for variable industrial sanding development, application, and demonstration of our system.

The end-user programming of social robot behavior is usually limited by a predefined set of movements. We are proposing a puppeteering robotic interface that provides a more intuitive method of programming robot expressive movements. As the user manipulates the puppet of a robot, the actual robot replicates the movements, providing real-time visual feedback. Through this proposed interface, even with limited training, a novice user can design and program expressive movements efficiently. We present our preliminary user study results in this extended abstract.

The research field of end-user programming has largely been concerned with helping non-experts learn to code sufficiently well in order to achieve their tasks. Generative AI stands to obviate this entirely by allowing users to generate code from naturalistic language prompts. In this essay, we explore the extent to which "traditional" programming languages remain relevant for non-expert end-user programmers in a world with generative AI. We posit the "generative shift hypothesis": that generative AI will create qualitative and quantitative expansions in the traditional scope of end-user programming. We outline some reasons that traditional programming languages may still be relevant and useful for end-user programmers. We speculate whether each of these reasons might be fundamental and enduring, or whether they may disappear with further improvements and innovations in generative AI. Finally, we articulate a set of implications for end-user programming research, including the possibility of needing to revisit many well-established core concepts, such as Ko's learning barriers and Blackwell's attention investment model.