@inproceedings{korpan-epstein-2021-plan,
    title = "Plan Explanations that Exploit a Cognitive Spatial Model",
    author = "Korpan, Raj  and
      Epstein, Susan L.",
    editor = "Alikhani, Malihe  and
      Blukis, Valts  and
      Kordjamshidi, Parisa  and
      Padmakumar, Aishwarya  and
      Tan, Hao",
    booktitle = "Proceedings of Second International Combined Workshop on Spatial Language Understanding and Grounded Communication for Robotics",
    month = aug,
    year = "2021",
    address = "Online",
    publisher = "Association for Computational Linguistics",
    url = "https://preview.aclanthology.org/fix-sig-urls/2021.splurobonlp-1.7/",
    doi = "10.18653/v1/2021.splurobonlp-1.7",
    pages = "60--70",
    abstract = "Ideally, people who navigate together in a complex indoor space share a mental model that facilitates explanation. This paper reports on a robot control system whose cognitive world model is based on spatial affordances that generalize over its perceptual data. Given a target, the control system formulates multiple plans, each with a model-relevant metric, and selects among them. As a result, it can provide readily understandable natural language about the robot{'}s intentions and confidence, and generate diverse, contrastive explanations that reference the acquired spatial model. Empirical results in large, complex environments demonstrate the robot{'}s ability to provide human-friendly explanations in natural language."
}