My research interests lie at the intersection of Machine Learning (ML), Human-Robot Interaction (HRI), and Cognitive Science. My research focus is to enable long-term autonomy for assistive robots in real-world environments. I develop continual learning techniques that can allow autonomous robots to learn from their users and then use the learned knowledge to assist users over the long term. These techniques are backed by rigorous testing in simulation and physical testing on robotic platforms with human users.