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Autonomous robots with sophisticated capabilities can make it difficult forhuman instructors to assess its capabilities and proficiencies. Therefore, itis important future robots have the ability to: introspect on theircapabilities and assess their task performance. Introspection allows the robotto determine what it can accomplish and self-assessment allows the robotestimate the likelihood it will accomplish at given task. We introduce ageneral framework for introspection and self-assessment that enables robots tohave task and performance-based dialogues before, during, and after a mission.We then realize aspects of the framework in the cognitive robotic DIARCarchitecture, and finally show a proof-of-concept demonstration on a Nao robotshowing its self-assessment capabilities before, during, and after aninstructed task.

"Can you do this?" Self-Assessment Dialogues with Autonomous Robots Before, During, and After a Mission