CMAssist is a new effort in our lab, the CORAL research group (http://www.cs.cmu.edu/~coral), to study the research issues surrounding human-robot interaction in unmodified indoor home and office environments. Our focus is on methods for interaction between the human and the robot that are similar to natural human-human interactions. In 2006, we placed 2nd out of 11 teams in the first ever RoboCup@Home international human robot competition competition where we have demonstrated our initial efforts.