Understandable Robots

The goal of this work is to develop a robot equipped with goal-driven explainability, i.e. a robot will explain its behavior to achieve a particular goal in a collaborative setting. The major factor in goal-driven explainability is the human'theory of mind'. In this work, we will employ Leslies' theory of mind model which includes a mechanical agency, an actionable agency and a belief agency. This thesis will focus on explaining the desire of the robot and the belief of the human if its different to the robot's intention or desire. We aim to develop a common theoretical framework for the development of understandable robots which will include learning to generate explanations, non-verbal and verbal ways of communication and explanations in context.