[2302.01039] Explainable Human-Robot Training and Cooperation with Augmented Reality

The current spread of social and assistive robotics applications is
increasingly highlighting the need for robots that can be easily taught and
interacted with, even by users with no technical background. Still, it is often
difficult to grasp what such robots know or to assess if a correct
representation of the task is being formed. Augmented Reality (AR) has the
potential to bridge this gap. We demonstrate three use cases where AR design
elements enhance the explainability and efficiency of human-robot interaction:
1) a human teaching a robot some simple kitchen tasks by demonstration, 2) the
robot showing its plan for solving novel tasks in AR to a human for validation,
and 3) a robot communicating its intentions via AR while assisting people with
limited mobility during daily activities.