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This paper presents an overview of robot failure detection work from HRI andadjacent fields using failures as an opportunity to examine robot explanationbehaviours. As humanoid robots remain experimental tools in the early 2020s,interactions with robots are situated overwhelmingly in controlledenvironments, typically studying various interactional phenomena. Suchinteractions suffer from real-world and large-scale experimentation and tend toignore the 'imperfectness' of the everyday user. Robot explanations can be usedto approach and mitigate failures, by expressing robot legibility andincapability, and within the perspective of common-ground. In this paper, Idiscuss how failures present opportunities for explanations in interactiveconversational robots and what the potentials are for the intersection of HRIand explainability research.

Utilising Explanations to Mitigate Robot Conversational Failures