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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    Titel :

    Explaining Local Path Plans Using LIME


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Müller, Andreas (Herausgeber:in) / Brandstötter, Mathias (Herausgeber:in) / Halilovic, Amar (Autor:in) / Lindner, Felix (Autor:in)

    Kongress:

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



    Erscheinungsdatum :

    23.04.2022


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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