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There has been significant interest of late in generating behavior of agentsthat is interpretable to the human (observer) in the loop. However, the work inthis area has typically lacked coherence on the topic, with proposed solutionsfor "explicable", "legible", "predictable" and "transparent" planning withoverlapping, and sometimes conflicting, semantics all aimed at some notion ofunderstanding what intentions the observer will ascribe to an agent byobserving its behavior. This is also true for the recent works on "security"and "privacy" of plans which are also trying to answer the same question, butfrom the opposite point of view -- i.e. when the agent is trying to hideinstead of revealing its intentions. This paper attempts to provide a workabletaxonomy of relevant concepts in this exciting and emerging field of inquiry.

Explicability? Legibility? Predictability? Transparency? Privacy? Security? The Emerging Landscape of Interpretable Agent Behavior