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Many types of explanations for robot behavior have been proposed, but they have not been fully analyzed for their impact on aligning expectations of robot paths for navigation. In this work, we evaluate several types of robot navigation explanations to understand their impact on the ability of humans to anticipate a robot\u2019s paths. We performed an experiment in which we gave participants an explanation of a robot path and then measured (i) their ability to predict that path, (ii) their allocation of attention on the robot navigating the path versus their own dot-tracking task, and (iii) their subjective ratings of the robot\u2019s predictability and trustworthiness. Our results show that explanations do significantly affect people\u2019s ability to predict robot paths and that explanations that are concise and do not require readers to perform mental transformations are most effective at reducing attention to the robot.<\/jats:p>","DOI":"10.1145\/3526104","type":"journal-article","created":{"date-parts":[[2022,4,14]],"date-time":"2022-04-14T17:50:26Z","timestamp":1649958626000},"page":"1-19","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["The Impact of Route Descriptions on Human Expectations for Robot Navigation"],"prefix":"10.1145","volume":"11","author":[{"given":"Stephanie","family":"Rosenthal","sequence":"first","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, PA, USA"}]},{"given":"Peerat","family":"Vichivanives","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, PA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2735-148X","authenticated-orcid":false,"given":"Elizabeth","family":"Carter","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, PA, USA"}]}],"member":"320","published-online":{"date-parts":[[2022,9,8]]},"reference":[{"key":"e_1_3_1_2_2","unstructured":"Dictionary.com. 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