Artificial Intelligence for Human-Robot Interaction:
Trust & Explainability in Artificial Intelligence for Human-Robot Interaction

AAAI Fall Symposium Series

Washington, DC, November 13-14, 2020

At the Westin Arlington Gateway in Arlington, Virginia, USA.


The 2020 AI-HRI symposium will take place virtually on the AAAI official Zoom. Information will be sent to all registered participants.

We have confirmed our invited speakers! Julie Shah, Maartje de Graaf, and Bertram F. Malle will give talks at AI-HRI 2020.
For more details, see the full program below.


The Artificial Intelligence (AI) for Human-Robot Interaction (HRI) Symposium has been a successful venue of discussion and collaboration since 2014. During that time, the sub-topics of trust and explainability in robotics have been rapidly growing, with major research efforts at universities and laboratories across the world.

Trust is generally believed that trust is crucial for adoption of both AI and robotics, particularly when transitioning technologies from the lab to industrial, social, and consumer applications. Enabling a robot to provide explanations is one approach to fostering this trust.

Over the course of the two-day meeting, we will host a collaborative forum for discussion of current efforts in trust for AI-HRI, with a sub-session focused on the related topic of explainable AI (XAI) for HRI. Additionally, the symposium will include other topics related to AI for HRI.


Presentation and publication

All accepted full and short papers will be presented orally and published in the proceedings through arXiv. Authors will be notified as to whether they have been assigned a “full-length” or “lightning” presentation slot. Authors will be notified as to whether they have been assigned a “full-length” or “lightning” presentation slot. Authors assigned to lightning talks will be invited to participate in a poster session.

Important dates

Submission: July 30, 2020 August 6, 2020

Notification of acceptance: September 10, 2020

The symposium will be held on November 13-14, 2020.

Please contact us if you require additional time to submit your contribution or have any questions.

Invited Speakers


Please find the schedule below. All times listed are in Eastern Time (GMT-5). Full-length talks are 15 minutes and short "poster" talks are 5 minutes (not including questions).

Full Papers can be found in the arXiv proceedings or in the local proceedings.

Please reach out to the authors with any questions or if their paper is not available.

Friday, November 13

10:00 ET Welcome & Logistics
10:15 Invited Talk: Maartje de Graaf
Session 1
Helpfulness as a Key Metric of Human-Robot Collaboration [pdf]
Richard Freedman, Steven Levine, Brian Williams, and Shlomo Zilberstein

Supporting User Autonomy with Multimodal Fusion to Detect when a User Needs Assistance from a Social Robot [pdf]
Alex Reneau and Jason Wilson

Human-Supervised Semi-Autonomous Mobile Manipulators for Safely and Efficiently Executing Machine Tending Tasks [pdf]
Sarah Al-Hussaini, Shantanu Thakar, Hyojeong Kim, Pradeep Rajendran, Brual Shah, Alec Kanyuck, Jeremy Marvel, and Satyandra K. Gupta
11:45 Author discussions (Session 1)

12:30 Invited Talk: Bertram Malle
13:15 Breakout Session
Session 2
Towards Using Social HRI for Improving Children's Healthcare Experiences [pdf]
Mary Ellen Foster and Ron Petrick

Face-work for Human-Agent Joint Decision Making [pdf]
JiHyun Jeong and Guy Hoffman

Stroke Modeling and Synthesis for Robotic and Virtual Patient Simulators [pdf]
Maryam Pourebadi and Laurel D. Riek
14:00 Author discussions (Session 2)

Session 3
Impact of Explanation on Trust of an Novel Mobile Robot [pdf]
Stephanie Rosenthal and Elizabeth Carter

Towards a Policy-as-a-Service Framework to Enable Compliant, Trustworthy AI and HRI Systems in the Wild [pdf]
Alexis Morris, Hallie Siegel, and Jonathan Kelly

Towards a Conversational Measure of Trust [pdf]
Mengyao Li, Areen Alsaid, Sofia Noejovich, Ernest Cross, and John Lee

Explainable Representations of the Social State: A Model for Social Human-Robot Interactions [pdf]
Daniel Hernandez Garcia, Yanchao Yu, Weronika Sieinska, Jose Part, Nancie Gunson, Oliver Lemon, and Christian Dondrup
15:15 Breakout Session
15:45 Author Discussion (Session 3)

Saturday, November 14

10:00 ET Invited Talk: Julie Shah
Session 4
Axiom Learning and Belief Tracing for Transparent Decision Making in Robotics [pdf]
Tiago Mota and Mohan Sridharan

Integrating Intrinsic and Extrinsic Explainability: The Relevance of Understanding Neural Networks for Human-Robot Interaction [pdf]
Tom Weber and Stefan Wermter

A Knowledge Driven Approach to Adaptive Assistance Using Preference Reasoning and Explanation [pdf]
Jason Wilson, Leilani Gilpin, and Irina Rabkina
11:30 Author discussions (Session 4)

12:30 Invited Speaker Panel: Explainable AI for HRI
Session 5
13:15 (3 short)
Projection Mapping Implementation: Enabling Direct Externalization of Perception Results and Action Intent to Improve Robot Explainability [pdf]
Zhao Han, Alexander Wilkinson, Jenna Parrillo, Jordan Allspaw, and Holly Yanco

Modeling Human Temporal Uncertainty in Human-Agent Teams [pdf]
Maya Abo Dominguez, William La, and Jim Boerkoel

Towards Preference Learning For Autonomous Ground Robot Navigation Tasks [pdf]
Cory Hayes and Matthew Marge

Self-supervised reinforcement learning for speaker localisation with the iCubhumanoid robot [pdf]
Jonas Gonzalez Billandon, Lukas Grasse, Matthew Tata, Alessandra Sciutti, and Francesco Rea
13:30 Author discussions (Session 5)

Session 6
14:45 (2 short)
A JavaScript Framework for Crowdsourced Human-Robot Interaction Experiments: RemoteHRI [pdf]
Finley Lau, Deepak Gopinath, and Brenna Argall

Accelerating the Development of Multimodal, Integrative-AI Systems with Platform for Situated Intelligence [pdf]
Sean Andrist and Dan Bohus

HAVEN: A Unity-based Virtual Robot Environment to Showcase HRI-based Augmented Reality [pdf]
Andre Cleaver, Darren Tang, Victoria Chen, and Jivko Sinapov

SENSAR: A Shared Reality with Intelligent Robots for Collaborative Human-Robot Interaction [pdf]
Andre Cleaver, Faizan Muhammad, Amel Hassan, Elaine Short, and Jivko Sinapov
15:00 Group discussion - next steps
15:15 Author discussions (Session 6)

Submission Instructions

Authors may submit under one of the following paper categories:
(The listed page limits are excluding references.)

  • Full papers (6-8 pages) highlighting state-of-the-art HRI-oriented research on trust & explainability and other related topics.

  • Short papers (2-4 pages) outlining new or controversial views on AI-HRI research or describing ongoing AI-oriented HRI research.

  • Tool papers (2-4 pages) describing novel software, hardware, or datasets of interest to the AI-HRI community.

Papers are to be submitted through the AAAI EasyChair site. Proceedings will be published through arXiv by each individual author.

Authors will be notified as to whether they have been assigned a full-length or 'lightning' presentation slot. Authors assigned to lightning talks will be invited to participate in a poster session. Additionally, all submitting authors will be added to the reviewer pool and may be asked to contribute to the peer-review process.

Please see the AAAI Author Kit for paper templates to ensure that your submission has proper formatting.

Contributions may be submitted here:

For any extenuating circumstances that may result in a delayed submission, please contact us.

Diversity & Inclusion at AI-HRI

AI-HRI is committed to growing the diversity of our community and is actively pursuing ways to make our community more inclusive. Our efforts include diversifying the participation among our program committee, invited speakers, paper authors, and symposium attendees.

To support attendees from under-represented groups (URGs), AI-HRI will be providing at least two complimentary registrations. This includes but is not limited to those who identify as Women, African American/Black, Hispanic/LatinX, Indigenous, persons with a disability, and/or LGBTQI+. To express your interest in receiving a complimentary registration, please fill out this form.

We are also looking to expand our ability to award complimentary registrations and are looking for sponsors to help. If you or your company is interesting in supporting our D&I initiative, please contact us.

If you have any other suggestions on how we can further promote diversity and inclusion at AI-HRI, please contact us at

Organizing Committee

Shelly Bagchi (National Institute of Standards and Technology),

Jason R. Wilson (Franklin & Marshall College),

Muneeb I. Ahmad (Heriot-Watt University),

Christian Dondrup (Heriot-Watt University),

Zhao Han (UMass Lowell),

Justin W. Hart (University of Texas Austin),

Matteo Leonetti (University of Leeds),

Katrin Solveig Lohan (University of Applied Sciences Ostschweiz OST),

Ross Mead (Semio),

Emmanuel Senft (University of Wisconsin, Madison),

Jivko Sinapov, Communications Co-Chair (Tufts University),

Megan L. Zimmerman (National Institute of Standards and Technology)

Contact us at