{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,13]],"date-time":"2026-06-13T07:22:27Z","timestamp":1781335347875,"version":"3.54.1"},"publisher-location":"New York, NY, USA","reference-count":79,"publisher":"ACM","license":[{"start":{"date-parts":[[2024,7,1]],"date-time":"2024-07-01T00:00:00Z","timestamp":1719792000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/https:\/\/doi.org\/10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["1925043"],"award-info":[{"award-number":["1925043"]}],"id":[{"id":"10.13039\/https:\/\/doi.org\/10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,7]]},"DOI":"10.1145\/3643834.3661559","type":"proceedings-article","created":{"date-parts":[[2024,6,29]],"date-time":"2024-06-29T22:48:34Z","timestamp":1719701314000},"page":"2911-2925","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":15,"title":["REX: Designing User-centered Repair and Explanations to Address Robot Failures"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0991-8072","authenticated-orcid":false,"given":"Christine P","family":"Lee","sequence":"first","affiliation":[{"name":"Department of Computer Sciences, University of Wisconsin-Madison, United States"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8696-6265","authenticated-orcid":false,"given":"Pragathi","family":"Praveena","sequence":"additional","affiliation":[{"name":"Department of Computer Sciences, University of Wisconsin-Madison, United States and Robotics Institute, Carnegie Mellon University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9456-1495","authenticated-orcid":false,"given":"Bilge","family":"Mutlu","sequence":"additional","affiliation":[{"name":"Department of Computer Sciences, University of Wisconsin-Madison, United States"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2024,7]]},"reference":[{"key":"e_1_3_2_1_1_1","unstructured":"2015. Temi - The Personal Robot. https:\/\/www.robotemi.com\/. Accessed: 2024-04-21."},{"key":"e_1_3_2_1_2_1","unstructured":"2022. Prolific: Quickly Find Research Participants You Can Trust. https:\/\/www.prolific.co\/"},{"key":"e_1_3_2_1_3_1","volume-title":"Do as i can, not as i say: Grounding language in robotic affordances. arXiv preprint arXiv:2204.01691","author":"Ahn Michael","year":"2022","unstructured":"Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, 2022. Do as i can, not as i say: Grounding language in robotic affordances. arXiv preprint arXiv:2204.01691 (2022)."},{"key":"e_1_3_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.6936985"},{"key":"e_1_3_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1145\/3290605.3300484"},{"key":"e_1_3_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.knosys.2014.05.009"},{"key":"e_1_3_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1013405"},{"key":"e_1_3_2_1_8_1","volume-title":"Conference on robot learning. PMLR, 287\u2013318","author":"Brohan Anthony","year":"2023","unstructured":"Anthony Brohan, Yevgen Chebotar, Chelsea Finn, Karol Hausman, Alexander Herzog, Daniel Ho, Julian Ibarz, Alex Irpan, Eric Jang, Ryan Julian, 2023. Do as i can, not as i say: Grounding language in robotic affordances. In Conference on robot learning. PMLR, 287\u2013318."},{"key":"e_1_3_2_1_9_1","volume-title":"A human-centric approach to autonomous robot failures. Ph.\u00a0D. Dissertation","author":"Brooks J","unstructured":"Daniel\u00a0J Brooks. 2017. A human-centric approach to autonomous robot failures. Ph.\u00a0D. Dissertation. University of Massachusetts Lowell."},{"key":"e_1_3_2_1_10_1","volume-title":"Language models are few-shot learners. Advances in neural information processing systems 33","author":"Brown Tom","year":"2020","unstructured":"Tom Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared\u00a0D Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, 2020. Language models are few-shot learners. Advances in neural information processing systems 33 (2020), 1877\u20131901."},{"key":"e_1_3_2_1_11_1","doi-asserted-by":"crossref","unstructured":"Bengisu Cagiltay and Bilge Mutlu. 2024. Toward Family-Robot Interactions: A Family-Centered Framework in HRI. (2024).","DOI":"10.1145\/3610977.3634976"},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.apergo.2015.07.012"},{"key":"e_1_3_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/2157689.2157798"},{"key":"e_1_3_2_1_14_1","volume-title":"To err is human (-oid): how do consumers react to robot service failure and recovery?Journal of Service Research 24, 3","author":"Choi Sungwoo","year":"2021","unstructured":"Sungwoo Choi, Anna\u00a0S Mattila, and Lisa\u00a0E Bolton. 2021. To err is human (-oid): how do consumers react to robot service failure and recovery?Journal of Service Research 24, 3 (2021), 354\u2013371."},{"key":"e_1_3_2_1_15_1","volume-title":"Deep reinforcement learning from human preferences. Advances in neural information processing systems 30","author":"Christiano F","year":"2017","unstructured":"Paul\u00a0F Christiano, Jan Leike, Tom Brown, Miljan Martic, Shane Legg, and Dario Amodei. 2017. Deep reinforcement learning from human preferences. Advances in neural information processing systems 30 (2017)."},{"key":"e_1_3_2_1_16_1","volume-title":"Iterative repair of social robot programs from implicit user feedback via bayesian inference. interaction 1","author":"Jae-Yoon Chung Michael","year":"2020","unstructured":"Michael Jae-Yoon Chung and Maya Cakmak. 2020. Iterative repair of social robot programs from implicit user feedback via bayesian inference. interaction 1 (2020), 2."},{"key":"e_1_3_2_1_17_1","volume-title":"Encyclopedia of critical psychology","author":"Clarke Victoria","year":"1947","unstructured":"Victoria Clarke and Virginia Braun. 2014. Thematic analysis. In Encyclopedia of critical psychology. Springer, 1947\u20131952."},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/3434073.3444657"},{"key":"e_1_3_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2007.03.003"},{"key":"e_1_3_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1145\/2388676.2388680"},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1177\/1541931218621322"},{"key":"e_1_3_2_1_22_1","volume-title":"Retrieval-augmented generation for large language models: A survey. arXiv preprint arXiv:2312.10997","author":"Gao Yunfan","year":"2023","unstructured":"Yunfan Gao, Yun Xiong, Xinyu Gao, Kangxiang Jia, Jinliu Pan, Yuxi Bi, Yi Dai, Jiawei Sun, and Haofen Wang. 2023. Retrieval-augmented generation for large language models: A survey. arXiv preprint arXiv:2312.10997 (2023)."},{"key":"e_1_3_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2015.08.008"},{"key":"e_1_3_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/3613904.3642806"},{"key":"e_1_3_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1145\/3585088.3589358"},{"key":"e_1_3_2_1_26_1","volume-title":"Understanding and resolving failures in human-robot interaction: Literature review and model development. Frontiers in psychology 9","author":"Honig Shanee","year":"2018","unstructured":"Shanee Honig and Tal Oron-Gilad. 2018. Understanding and resolving failures in human-robot interaction: Literature review and model development. Frontiers in psychology 9 (2018), 861."},{"key":"e_1_3_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/3461778.3462116"},{"key":"e_1_3_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1207\/S15327566IJCE0401_04"},{"key":"e_1_3_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1007\/11513988_23"},{"key":"e_1_3_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2535907"},{"key":"e_1_3_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1145\/3208975"},{"key":"e_1_3_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-082619-100135"},{"key":"e_1_3_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2019.00151"},{"key":"e_1_3_2_1_34_1","volume-title":"Proceedings of the SIGDIAL 2013 Conference. 223\u2013232","author":"Keizer Simon","year":"2013","unstructured":"Simon Keizer, Mary\u00a0Ellen Foster, Oliver Lemon, Andre Gaschler, and Manuel Giuliani. 2013. Training and evaluation of an MDP model for social multi-user human-robot interaction. In Proceedings of the SIGDIAL 2013 Conference. 223\u2013232."},{"key":"e_1_3_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916688949"},{"key":"e_1_3_2_1_36_1","volume-title":"Understanding Large-Language Model (LLM)-powered Human-Robot Interaction. arXiv preprint arXiv:2401.03217","author":"Kim Y","year":"2024","unstructured":"Callie\u00a0Y Kim, Christine\u00a0P Lee, and Bilge Mutlu. 2024. Understanding Large-Language Model (LLM)-powered Human-Robot Interaction. arXiv preprint arXiv:2401.03217 (2024)."},{"key":"e_1_3_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1145\/3610977.3634983"},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363505"},{"key":"e_1_3_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3501955"},{"key":"e_1_3_2_1_40_1","volume-title":"Demonstrating the Potential of Interactive Product Packaging for Enriching Human-Robot Interaction. In Companion of the 2023 ACM\/IEEE International Conference on Human-Robot Interaction. 899\u2013901","author":"Lee P","year":"2023","unstructured":"Christine\u00a0P Lee, Bengisu Cagiltay, Dakota Sullivan, and Bilge Mutlu. 2023. Demonstrating the Potential of Interactive Product Packaging for Enriching Human-Robot Interaction. In Companion of the 2023 ACM\/IEEE International Conference on Human-Robot Interaction. 899\u2013901."},{"key":"e_1_3_2_1_41_1","volume-title":"2010 5th ACM\/IEEE International Conference on Human-Robot Interaction (HRI). IEEE, 203\u2013210","author":"Lee Min\u00a0Kyung","year":"2010","unstructured":"Min\u00a0Kyung Lee, Sara Kiesler, Jodi Forlizzi, Siddhartha Srinivasa, and Paul Rybski. 2010. Gracefully mitigating breakdowns in robotic services. In 2010 5th ACM\/IEEE International Conference on Human-Robot Interaction (HRI). IEEE, 203\u2013210."},{"key":"e_1_3_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-25554-5_39"},{"key":"e_1_3_2_1_43_1","first-page":"9459","article-title":"Retrieval-augmented generation for knowledge-intensive nlp tasks","volume":"33","author":"Lewis Patrick","year":"2020","unstructured":"Patrick Lewis, Ethan Perez, Aleksandra Piktus, Fabio Petroni, Vladimir Karpukhin, Naman Goyal, Heinrich K\u00fcttler, Mike Lewis, Wen-tau Yih, Tim Rockt\u00e4schel, 2020. Retrieval-augmented generation for knowledge-intensive nlp tasks. Advances in Neural Information Processing Systems 33 (2020), 9459\u20139474.","journal-title":"Advances in Neural Information Processing Systems"},{"key":"e_1_3_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1177\/17298806231191606"},{"key":"e_1_3_2_1_45_1","volume-title":"Reflect: Summarizing robot experiences for failure explanation and correction. arXiv preprint arXiv:2306.15724","author":"Liu Zeyi","year":"2023","unstructured":"Zeyi Liu, Arpit Bahety, and Shuran Song. 2023. Reflect: Summarizing robot experiences for failure explanation and correction. arXiv preprint arXiv:2306.15724 (2023)."},{"key":"e_1_3_2_1_46_1","volume-title":"Measuring Usability with the USE Questionnaire. Usability and User Experience Newsletter of the STC Usability SIG 8 (01","author":"Lund Arnold","year":"2001","unstructured":"Arnold Lund. 2001. Measuring Usability with the USE Questionnaire. Usability and User Experience Newsletter of the STC Usability SIG 8 (01 2001)."},{"key":"e_1_3_2_1_47_1","volume-title":"1st International Software Assurance Certification Conference (ISACC\u201999)","author":"Lutz R","year":"1999","unstructured":"Robyn\u00a0R Lutz and R Woodhouse. 1999. Bi-directional analysis for certification of safety-critical software. In 1st International Software Assurance Certification Conference (ISACC\u201999), Vol.\u00a02. 3."},{"key":"e_1_3_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1080\/10548408.2022.2162659"},{"key":"e_1_3_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3517565"},{"key":"e_1_3_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1145\/3237189"},{"key":"e_1_3_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1145\/3359174"},{"key":"e_1_3_2_1_52_1","volume-title":"2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). IEEE, 2421\u20132426","author":"Melsion Gaspar\u00a0Isaac","year":"2023","unstructured":"Gaspar\u00a0Isaac Melsion, Rebecca Stower, Katie Winkle, and Iolanda Leite. 2023. What\u2019s at Stake? Robot explanations matter for high but not low-stake scenarios. In 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). IEEE, 2421\u20132426."},{"key":"e_1_3_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1057\/s41303-017-0046-1"},{"key":"e_1_3_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1145\/3568162.3576978"},{"key":"e_1_3_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1145\/1349822.1349860"},{"key":"e_1_3_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2018.00131"},{"key":"e_1_3_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1145\/3242587.3242634"},{"key":"e_1_3_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376355"},{"key":"e_1_3_2_1_59_1","doi-asserted-by":"publisher","DOI":"10.1145\/3568162.3576991"},{"key":"e_1_3_2_1_60_1","doi-asserted-by":"publisher","DOI":"10.1145\/3610199"},{"key":"e_1_3_2_1_61_1","volume-title":"2nd Workshop on Language and Robot Learning: Language as Grounding.","author":"Raman Shreyas\u00a0Sundara","year":"2023","unstructured":"Shreyas\u00a0Sundara Raman, Vanya Cohen, David Paulius, Ifrah Idrees, Eric Rosen, Ray Mooney, and Stefanie Tellex. 2023. Cape: Corrective actions from precondition errors using large language models. In 2nd Workshop on Language and Robot Learning: Language as Grounding."},{"key":"e_1_3_2_1_62_1","volume-title":"NeurIPS 2022 Foundation Models for Decision Making Workshop.","author":"Raman Shreyas\u00a0Sundara","year":"2022","unstructured":"Shreyas\u00a0Sundara Raman, Vanya Cohen, Eric Rosen, Ifrah Idrees, David Paulius, and Stefanie Tellex. 2022. Planning with large language models via corrective re-prompting. In NeurIPS 2022 Foundation Models for Decision Making Workshop."},{"key":"e_1_3_2_1_63_1","volume-title":"Human error","author":"Reason James","unstructured":"James Reason. 1990. Human error. Cambridge university press."},{"key":"e_1_3_2_1_64_1","doi-asserted-by":"publisher","DOI":"10.1145\/2702123.2702181"},{"key":"e_1_3_2_1_65_1","volume-title":"Facilitation of Customer Empathy: The Effect of Robot Apology on Customer Reaction Following a Service Failure.Journal of Marketing Development & Competitiveness 16, 2","author":"Shen Wenguo","year":"2022","unstructured":"Wenguo Shen and Yongwei Wang. 2022. Facilitation of Customer Empathy: The Effect of Robot Apology on Customer Reaction Following a Service Failure.Journal of Marketing Development & Competitiveness 16, 2 (2022)."},{"key":"e_1_3_2_1_66_1","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2010.5453193"},{"key":"e_1_3_2_1_67_1","volume-title":"RoboCup 2012: Robot Soccer World Cup XVI 16","author":"Steinbauer Gerald","unstructured":"Gerald Steinbauer. 2013. A survey about faults of robots used in robocup. In RoboCup 2012: Robot Soccer World Cup XVI 16. Springer, 344\u2013355."},{"key":"e_1_3_2_1_68_1","doi-asserted-by":"publisher","DOI":"10.1145\/3610977.3634937"},{"key":"e_1_3_2_1_69_1","doi-asserted-by":"publisher","DOI":"10.1145\/3411763.3443440"},{"key":"e_1_3_2_1_70_1","doi-asserted-by":"publisher","DOI":"10.1145\/3439720"},{"key":"e_1_3_2_1_71_1","volume-title":"Exploring Appropriate Communication Styles for Personalized Chatbots in Service Recovery. In Pacific Asia Conference on Information Systems. 1.","author":"Wang Siran","year":"2022","unstructured":"Siran Wang, Lingli Wang, and Qiang Yan. 2022. Exploring Appropriate Communication Styles for Personalized Chatbots in Service Recovery. In Pacific Asia Conference on Information Systems. 1."},{"key":"e_1_3_2_1_72_1","doi-asserted-by":"publisher","DOI":"10.1145\/3397481.3450650"},{"key":"e_1_3_2_1_73_1","volume-title":"Diagnosis and repair of dependent failures in the control system of a mobile autonomous robot. Applied intelligence 36, 3","author":"Weber J\u00f6rg","year":"2012","unstructured":"J\u00f6rg Weber and Franz Wotawa. 2012. Diagnosis and repair of dependent failures in the control system of a mobile autonomous robot. Applied intelligence 36, 3 (2012), 511\u2013528."},{"key":"e_1_3_2_1_74_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10669-018-9708-3"},{"key":"e_1_3_2_1_75_1","volume-title":"Autogen: Enabling next-gen llm applications via multi-agent conversation framework. arXiv preprint arXiv:2308.08155","author":"Wu Qingyun","year":"2023","unstructured":"Qingyun Wu, Gagan Bansal, Jieyu Zhang, Yiran Wu, Shaokun Zhang, Erkang Zhu, Beibin Li, Li Jiang, Xiaoyun Zhang, and Chi Wang. 2023. Autogen: Enabling next-gen llm applications via multi-agent conversation framework. arXiv preprint arXiv:2308.08155 (2023)."},{"key":"e_1_3_2_1_76_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.annals.2022.103425"},{"key":"e_1_3_2_1_77_1","doi-asserted-by":"publisher","DOI":"10.1145\/3290605.3300468"},{"key":"e_1_3_2_1_78_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ssci.2020.104667"},{"key":"e_1_3_2_1_79_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12525-022-00596-2"}],"event":{"name":"DIS '24: Designing Interactive Systems Conference","location":"Copenhagen Denmark","acronym":"DIS '24","sponsor":["SIGCHI ACM Special Interest Group on Computer-Human Interaction"]},"container-title":["Designing Interactive Systems Conference"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3643834.3661559","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3643834.3661559","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T00:03:56Z","timestamp":1750291436000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3643834.3661559"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,7]]},"references-count":79,"alternative-id":["10.1145\/3643834.3661559","10.1145\/3643834"],"URL":"https:\/\/doi.org\/10.1145\/3643834.3661559","relation":{},"subject":[],"published":{"date-parts":[[2024,7]]},"assertion":[{"value":"2024-07-01","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}