As robots are becoming a more significant part of humans’ daily life, there is a challenge to bridge the gap between robots’ actions and humans’ understanding of what robots are doing and how they make their decisions. We present an approach to local navigation explanation based on Local Interpretable Model-agnostic Explanations (LIME), a popular approach from the Explainable Artificial Intelligence (XAI) community for explaining individual predictions of black-box models. We show how LIME can be applied to a robot’s local path planner. We experimentally evaluate the explanation method’s runtime, quality, and robustness, and discuss implications for the robotic domain.


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    Title :

    Explaining Local Path Plans Using LIME


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Publication date :

    2022-04-23


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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