Towards A Robot Explanation System: A Survey and Our Approach to State Summarization, Storage and Querying, and Human Interface

TL;DR

This paper surveys existing methods and proposes an integrated approach for robot explanation systems focusing on state summarization, storage, querying, and human interfaces to enhance transparency and trust.

Contribution

It introduces a comprehensive framework for robot explanation systems and discusses a novel approach to integrate state summarization, storage, querying, and human interaction.

Findings

Identified key trends and gaps in robot explanation system development.

Proposed a holistic approach integrating three core components.

Reviewed the functionality of the complete explanation system.

Abstract

As robot systems become more ubiquitous, developing understandable robot systems becomes increasingly important in order to build trust. In this paper, we present an approach to developing a holistic robot explanation system, which consists of three interconnected components: state summarization, storage and querying, and human interface. To find trends towards and gaps in the development of such an integrated system, a literature review was performed and categorized around those three components, with a focus on robotics applications. After the review of each component, we discuss our proposed approach for robot explanation. Finally, we summarize the system as a whole and review its functionality.