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Due to the COVID-19 pandemic, conducting Human-Robot Interaction (HRI)studies in person is not permissible due to social distancing practices tolimit the spread of the virus. Therefore, a virtual reality (VR) simulationwith a virtual robot may offer an alternative to real-life HRI studies. Like areal intelligent robot, a virtual robot can utilize the same advancedalgorithms to behave autonomously. This paper introduces HAVEN (HRI-basedAugmentation in a Virtual robot Environment using uNity), a VR simulation thatenables users to interact with a virtual robot. The goal of this system designis to enable researchers to conduct HRI Augmented Reality studies using avirtual robot without being in a real environment. This framework alsointroduces two common HRI experiment designs: a hallway passing scenario andhuman-robot team object retrieval scenario. Both reflect HAVEN's potential as atool for future AR-based HRI studies.

HAVEN: A Unity-based Virtual Robot Environment to Showcase HRI-based Augmented Reality