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Despite significant improvements in robot capabilities, they are likely tofail in human-robot collaborative tasks due to high unpredictability in humanenvironments and varying human expectations. In this work, we explore the roleof explanation of failures by a robot in a human-robot collaborative task. Wepresent a user study incorporating common failures in collaborative tasks withhuman assistance to resolve the failure. In the study, a robot and a human worktogether to fill a shelf with objects. Upon encountering a failure, the robotexplains the failure and the resolution to overcome the failure, either throughhandovers or humans completing the task. The study is conducted using differentlevels of robotic explanation based on the failure action, failure cause, andaction history, and different strategies in providing the explanation over thecourse of repeated interaction. Our results show that the success in resolvingthe failures is not only a function of the level of explanation but also thetype of failures. Furthermore, while novice users rate the robot higher overallin terms of their satisfaction with the explanation, their satisfaction is notonly a function of the robot's explanation level at a certain round but alsothe prior information they received from the robot.

Effects of Explanation Strategies to Resolve Failures in Human-Robot Collaboration