Abstract

To address the tension between demands for more transparent AI systems and the aim to develop and design robots with apparent agency for smooth and intuitive human-robot interaction (HRI), we present in this paper an argument for why explainability in HRI would benefit from being question-centered. First, we review how explainability has been discussed in AI and HRI respectively, to then present the challenge in HRI to accommodate the requirement of transparency while also keeping up the appearance of the robot as a social agent. Based on the conceptualization of questions as information-seeking acts, our proposal for a question-centered approach to explainable HRI (xHRI) implies that to ensure transparency, robots shall provide explanations upon request in the form of questioning. We end this paper by laying out a preliminary taxonomy of xHRI-relevant questions that present the kinds of explanations a robot can or should be able to provide for successful and transparent HRI.