---
_id: '61112'
author:
- first_name: Katharina J.
full_name: Rohlfing, Katharina J.
id: '50352'
last_name: Rohlfing
orcid: 0000-0002-5676-8233
- first_name: Anna-Lisa
full_name: Vollmer, Anna-Lisa
last_name: Vollmer
- first_name: Angela
full_name: Grimminger, Angela
id: '57578'
last_name: Grimminger
citation:
ama: 'Rohlfing KJ, Vollmer A-L, Grimminger A. Practices: How to establish an explaining
practice. In: Rohlfing K, Främling K, Thommes K, Alpsancar S, Lim BY, eds. Social
Explainable AI. Springer; 2026. doi:10.1007/978-981-96-5290-7_5'
apa: 'Rohlfing, K. J., Vollmer, A.-L., & Grimminger, A. (2026). Practices: How
to establish an explaining practice. In K. Rohlfing, K. Främling, K. Thommes,
S. Alpsancar, & B. Y. Lim (Eds.), Social Explainable AI. Springer.
https://doi.org/10.1007/978-981-96-5290-7_5'
bibtex: '@inbook{Rohlfing_Vollmer_Grimminger_2026, title={Practices: How to establish
an explaining practice}, DOI={10.1007/978-981-96-5290-7_5},
booktitle={Social Explainable AI}, publisher={Springer}, author={Rohlfing, Katharina
J. and Vollmer, Anna-Lisa and Grimminger, Angela}, editor={Rohlfing, Katharina
and Främling, Kary and Thommes, Kirsten and Alpsancar, Suzana and Lim, Brian Y.},
year={2026} }'
chicago: 'Rohlfing, Katharina J., Anna-Lisa Vollmer, and Angela Grimminger. “Practices:
How to Establish an Explaining Practice.” In Social Explainable AI, edited
by Katharina Rohlfing, Kary Främling, Kirsten Thommes, Suzana Alpsancar, and Brian
Y. Lim. Springer, 2026. https://doi.org/10.1007/978-981-96-5290-7_5.'
ieee: 'K. J. Rohlfing, A.-L. Vollmer, and A. Grimminger, “Practices: How to establish
an explaining practice,” in Social Explainable AI, K. Rohlfing, K. Främling,
K. Thommes, S. Alpsancar, and B. Y. Lim, Eds. Springer, 2026.'
mla: 'Rohlfing, Katharina J., et al. “Practices: How to Establish an Explaining
Practice.” Social Explainable AI, edited by Katharina Rohlfing et al.,
Springer, 2026, doi:10.1007/978-981-96-5290-7_5.'
short: 'K.J. Rohlfing, A.-L. Vollmer, A. Grimminger, in: K. Rohlfing, K. Främling,
K. Thommes, S. Alpsancar, B.Y. Lim (Eds.), Social Explainable AI, Springer, 2026.'
date_created: 2025-09-02T14:33:16Z
date_updated: 2026-03-20T09:11:58Z
department:
- _id: '660'
doi: 10.1007/978-981-96-5290-7_5
editor:
- first_name: Katharina
full_name: Rohlfing, Katharina
last_name: Rohlfing
- first_name: Kary
full_name: Främling, Kary
last_name: Främling
- first_name: Kirsten
full_name: Thommes, Kirsten
last_name: Thommes
- first_name: Suzana
full_name: Alpsancar, Suzana
last_name: Alpsancar
- first_name: Brian Y.
full_name: Lim, Brian Y.
last_name: Lim
language:
- iso: eng
main_file_link:
- open_access: '1'
oa: '1'
project:
- _id: '112'
name: 'TRR 318; TP A02: Verstehensprozess einer Erklärung beobachten und auswerten'
- _id: '111'
name: 'TRR 318; TP A01: Adaptives Erklären'
- _id: '115'
name: 'TRR 318; TP A05: Echtzeitmessung der Aufmerksamkeit im Mensch-Roboter-Erklärdialog'
- _id: '123'
name: TRR 318 - Subproject B5
publication: Social Explainable AI
publication_identifier:
eisbn:
- 978-981-96-5290-7
publication_status: epub_ahead
publisher: Springer
quality_controlled: '1'
related_material:
link:
- relation: original
url: https://link.springer.com/chapter/10.1007/978-981-96-5290-7_5
status: public
title: 'Practices: How to establish an explaining practice'
type: book_chapter
user_id: '57578'
year: '2026'
...
---
_id: '61325'
author:
- first_name: Anna-Lisa
full_name: Vollmer, Anna-Lisa
last_name: Vollmer
- first_name: Heike M.
full_name: Buhl, Heike M.
id: '27152'
last_name: Buhl
- first_name: Rachid
full_name: Alami, Rachid
last_name: Alami
- first_name: Kary
full_name: Främling, Kary
last_name: Främling
- first_name: Angela
full_name: Grimminger, Angela
id: '57578'
last_name: Grimminger
- first_name: Meisam
full_name: Booshehri, Meisam
last_name: Booshehri
- first_name: Axel-Cyrille
full_name: Ngonga Ngomo, Axel-Cyrille
id: '65716'
last_name: Ngonga Ngomo
citation:
ama: 'Vollmer A-L, Buhl HM, Alami R, et al. Components of an explanation for co-constructive
sXAI. In: Rohlfing KJ, Främling K, Lim B, Alpsancar S, Thommes K, eds. Social
Explainable AI. Springer; 2026:39-53. doi:10.1007/978-981-96-5290-7_3'
apa: Vollmer, A.-L., Buhl, H. M., Alami, R., Främling, K., Grimminger, A., Booshehri,
M., & Ngonga Ngomo, A.-C. (2026). Components of an explanation for co-constructive
sXAI. In K. J. Rohlfing, K. Främling, B. Lim, S. Alpsancar, & K. Thommes (Eds.),
Social Explainable AI (pp. 39–53). Springer. https://doi.org/10.1007/978-981-96-5290-7_3
bibtex: '@inbook{Vollmer_Buhl_Alami_Främling_Grimminger_Booshehri_Ngonga Ngomo_2026,
title={Components of an explanation for co-constructive sXAI}, DOI={10.1007/978-981-96-5290-7_3},
booktitle={Social Explainable AI}, publisher={Springer}, author={Vollmer, Anna-Lisa
and Buhl, Heike M. and Alami, Rachid and Främling, Kary and Grimminger, Angela
and Booshehri, Meisam and Ngonga Ngomo, Axel-Cyrille}, editor={Rohlfing, Katharina
J. and Främling, Kary and Lim, Brian and Alpsancar, Suzana and Thommes, Kirsten},
year={2026}, pages={39–53} }'
chicago: Vollmer, Anna-Lisa, Heike M. Buhl, Rachid Alami, Kary Främling, Angela
Grimminger, Meisam Booshehri, and Axel-Cyrille Ngonga Ngomo. “Components of an
Explanation for Co-Constructive SXAI.” In Social Explainable AI, edited
by Katharina J. Rohlfing, Kary Främling, Brian Lim, Suzana Alpsancar, and Kirsten
Thommes, 39–53. Springer, 2026. https://doi.org/10.1007/978-981-96-5290-7_3.
ieee: A.-L. Vollmer et al., “Components of an explanation for co-constructive
sXAI,” in Social Explainable AI, K. J. Rohlfing, K. Främling, B. Lim, S.
Alpsancar, and K. Thommes, Eds. Springer, 2026, pp. 39–53.
mla: Vollmer, Anna-Lisa, et al. “Components of an Explanation for Co-Constructive
SXAI.” Social Explainable AI, edited by Katharina J. Rohlfing et al., Springer,
2026, pp. 39–53, doi:10.1007/978-981-96-5290-7_3.
short: 'A.-L. Vollmer, H.M. Buhl, R. Alami, K. Främling, A. Grimminger, M. Booshehri,
A.-C. Ngonga Ngomo, in: K.J. Rohlfing, K. Främling, B. Lim, S. Alpsancar, K. Thommes
(Eds.), Social Explainable AI, Springer, 2026, pp. 39–53.'
date_created: 2025-09-17T10:16:52Z
date_updated: 2026-03-23T18:28:01Z
department:
- _id: '660'
doi: 10.1007/978-981-96-5290-7_3
editor:
- first_name: Katharina J.
full_name: Rohlfing, Katharina J.
last_name: Rohlfing
- first_name: Kary
full_name: Främling, Kary
last_name: Främling
- first_name: Brian
full_name: Lim, Brian
last_name: Lim
- first_name: Suzana
full_name: Alpsancar, Suzana
last_name: Alpsancar
- first_name: Kirsten
full_name: Thommes, Kirsten
last_name: Thommes
language:
- iso: eng
main_file_link:
- open_access: '1'
url: https://link.springer.com/chapter/10.1007/978-981-96-5290-7_3
oa: '1'
page: 39-53
project:
- _id: '112'
name: 'TRR 318; TP A02: Verstehensprozess einer Erklärung beobachten und auswerten'
- _id: '111'
name: 'TRR 318; TP A01: Adaptives Erklären'
- _id: '114'
name: 'TRR 318; TP A04: Integration des technischen Modells in das Partnermodell
bei der Erklärung von digitalen Artefakten'
- _id: '123'
name: TRR 318 - Subproject B5
- _id: '118'
name: 'TRR 318: Project Area INF'
publication: Social Explainable AI
publication_identifier:
eisbn:
- 978-981-96-5290-7
publication_status: epub_ahead
publisher: Springer
quality_controlled: '1'
related_material:
link:
- relation: original
url: https://link.springer.com/chapter/10.1007/978-981-96-5290-7_3
status: public
title: Components of an explanation for co-constructive sXAI
type: book_chapter
user_id: '90826'
year: '2026'
...
---
_id: '55400'
abstract:
- lang: eng
text: "This study contributes to the evolving field of robot learning in interaction\r\nwith
humans, examining the impact of diverse input modalities on learning\r\noutcomes.
It introduces the concept of \"meta-modalities\" which encapsulate\r\nadditional
forms of feedback beyond the traditional preference and scalar\r\nfeedback mechanisms.
Unlike prior research that focused on individual\r\nmeta-modalities, this work
evaluates their combined effect on learning\r\noutcomes. Through a study with
human participants, we explore user preferences\r\nfor these modalities and their
impact on robot learning performance. Our\r\nfindings reveal that while individual
modalities are perceived differently,\r\ntheir combination significantly improves
learning behavior and usability. This\r\nresearch not only provides valuable insights
into the optimization of\r\nhuman-robot interactive task learning but also opens
new avenues for enhancing\r\nthe interactive freedom and scaffolding capabilities
provided to users in such\r\nsettings."
article_type: original
author:
- first_name: Helen
full_name: Beierling, Helen
last_name: Beierling
- first_name: 'Robin '
full_name: 'Beierling, Robin '
last_name: Beierling
- first_name: Anna-Lisa
full_name: Vollmer, Anna-Lisa
last_name: Vollmer
citation:
ama: Beierling H, Beierling R, Vollmer A-L. The power of combined modalities in
interactive robot learning. Frontiers in Robotics and AI. 2025;12.
apa: Beierling, H., Beierling, R., & Vollmer, A.-L. (2025). The power of combined
modalities in interactive robot learning. Frontiers in Robotics and AI,
12.
bibtex: '@article{Beierling_Beierling_Vollmer_2025, title={The power of combined
modalities in interactive robot learning}, volume={12}, journal={Frontiers in
Robotics and AI}, publisher={Frontiers }, author={Beierling, Helen and Beierling,
Robin and Vollmer, Anna-Lisa}, year={2025} }'
chicago: Beierling, Helen, Robin Beierling, and Anna-Lisa Vollmer. “The Power of
Combined Modalities in Interactive Robot Learning.” Frontiers in Robotics and
AI 12 (2025).
ieee: H. Beierling, R. Beierling, and A.-L. Vollmer, “The power of combined modalities
in interactive robot learning,” Frontiers in Robotics and AI, vol. 12,
2025.
mla: Beierling, Helen, et al. “The Power of Combined Modalities in Interactive Robot
Learning.” Frontiers in Robotics and AI, vol. 12, Frontiers , 2025.
short: H. Beierling, R. Beierling, A.-L. Vollmer, Frontiers in Robotics and AI 12
(2025).
date_created: 2024-07-26T08:35:24Z
date_updated: 2025-09-17T13:38:18Z
ddc:
- '004'
extern: '1'
file:
- access_level: closed
content_type: application/pdf
creator: helebeen
date_created: 2025-09-17T13:36:09Z
date_updated: 2025-09-17T13:36:09Z
file_id: '61331'
file_name: frobt-12-1598968.pdf
file_size: 36978223
relation: main_file
success: 1
file_date_updated: 2025-09-17T13:36:09Z
funded_apc: '1'
has_accepted_license: '1'
intvolume: ' 12'
keyword:
- human-robot interaction
- human-in-the-loop learning
- reinforcement learning
- interactive robot learning
- multi-modal feedback
- learning from demonstration
- preference-based learning
- scaffolding in robot learning
language:
- iso: eng
main_file_link:
- open_access: '1'
url: https://pmc.ncbi.nlm.nih.gov/articles/PMC12312635/
oa: '1'
project:
- _id: '123'
name: 'TRR 318 - B5: TRR 318 - Subproject B5'
publication: Frontiers in Robotics and AI
publication_status: published
publisher: 'Frontiers '
status: public
title: The power of combined modalities in interactive robot learning
type: journal_article
user_id: '50995'
volume: 12
year: '2025'
...
---
_id: '61327'
abstract:
- lang: eng
text: "Robot learning from humans has been proposed and researched for several decades
as a means to enable robots to learn new skills or\r\nadapt existing ones to new
situations. Recent advances in artificial intelligence, including learning approaches
like reinforcement\r\nlearning and architectures like transformers and foundation
models, combined with access to massive datasets, has created attractive\r\nopportunities
to apply those data-hungry techniques to this problem. We argue that the focus
on massive amounts of pre-collected\r\ndata, and the resulting learning paradigm,
where humans demonstrate and robots learn in isolation, is overshadowing a specialized\r\narea
of work we term Human-Interactive-Robot-Learning (HIRL). This paradigm, wherein
robots and humans interact during the\r\nlearning process, is at the intersection
of multiple fields (artificial intelligence, robotics, human-computer interaction,
design and others)\r\nand holds unique promise. Using HIRL, robots can achieve
greater sample efficiency (as humans can provide task knowledge through\r\ninteraction),
align with human preferences (as humans can guide the robot behavior towards their
expectations), and explore more\r\nmeaningfully and safely (as humans can utilize
domain knowledge to guide learning and prevent catastrophic failures). This can
result\r\nin robotic systems that can more quickly and easily adapt to new tasks
in human environments. The objective of this paper is to\r\nprovide a broad and
consistent overview of HIRL research and to guide researchers toward understanding
the scope of HIRL, and\r\ncurrent open or underexplored challenges related to
four themes — namely, human, robot learning, interaction, and broader context.\r\nThe
paper includes concrete use cases to illustrate the interaction between these
challenges and inspire further research according to\r\nbroad recommendations
and a call for action for the growing HIRL community"
article_type: original
author:
- first_name: 'Kim '
full_name: 'Baraka, Kim '
last_name: Baraka
- first_name: Ifrah
full_name: Idrees, Ifrah
last_name: Idrees
- first_name: Taylor Kessler
full_name: Faulkner, Taylor Kessler
last_name: Faulkner
- first_name: Erdem
full_name: Biyik, Erdem
last_name: Biyik
- first_name: Serena
full_name: Booth, Serena
last_name: Booth
- first_name: Mohamed
full_name: Chetouani, Mohamed
last_name: Chetouani
- first_name: Daniel H.
full_name: Grollman, Daniel H.
last_name: Grollman
- first_name: Akanksha
full_name: Saran, Akanksha
last_name: Saran
- first_name: Emmanuel
full_name: Senft, Emmanuel
last_name: Senft
- first_name: Silvia
full_name: Tulli, Silvia
last_name: Tulli
- first_name: Anna-Lisa
full_name: Vollmer, Anna-Lisa
last_name: Vollmer
- first_name: Antonio
full_name: Andriella, Antonio
last_name: Andriella
- first_name: Helen
full_name: Beierling, Helen
last_name: Beierling
- first_name: Tiffany
full_name: Horter, Tiffany
last_name: Horter
- first_name: Jens
full_name: Kober, Jens
last_name: Kober
- first_name: Isaac
full_name: Sheidlower, Isaac
last_name: Sheidlower
- first_name: Matthew E.
full_name: Taylor, Matthew E.
last_name: Taylor
- first_name: Sanne
full_name: van Waveren, Sanne
last_name: van Waveren
- first_name: Xuesu
full_name: Xiao, Xuesu
last_name: Xiao
citation:
ama: 'Baraka K, Idrees I, Faulkner TK, et al. Human-Interactive Robot Learning:
Definition, Challenges, and Recommendations. Transactions on Human-Robot Interaction.'
apa: 'Baraka, K., Idrees, I., Faulkner, T. K., Biyik, E., Booth, S., Chetouani,
M., Grollman, D. H., Saran, A., Senft, E., Tulli, S., Vollmer, A.-L., Andriella,
A., Beierling, H., Horter, T., Kober, J., Sheidlower, I., Taylor, M. E., van Waveren,
S., & Xiao, X. (n.d.). Human-Interactive Robot Learning: Definition, Challenges,
and Recommendations. Transactions on Human-Robot Interaction.'
bibtex: '@article{Baraka_Idrees_Faulkner_Biyik_Booth_Chetouani_Grollman_Saran_Senft_Tulli_et
al., title={Human-Interactive Robot Learning: Definition, Challenges, and Recommendations},
journal={Transactions on Human-Robot Interaction}, author={Baraka, Kim and Idrees,
Ifrah and Faulkner, Taylor Kessler and Biyik, Erdem and Booth, Serena and Chetouani,
Mohamed and Grollman, Daniel H. and Saran, Akanksha and Senft, Emmanuel and Tulli,
Silvia and et al.} }'
chicago: 'Baraka, Kim , Ifrah Idrees, Taylor Kessler Faulkner, Erdem Biyik, Serena
Booth, Mohamed Chetouani, Daniel H. Grollman, et al. “Human-Interactive Robot
Learning: Definition, Challenges, and Recommendations.” Transactions on Human-Robot
Interaction, n.d.'
ieee: 'K. Baraka et al., “Human-Interactive Robot Learning: Definition, Challenges,
and Recommendations,” Transactions on Human-Robot Interaction.'
mla: 'Baraka, Kim, et al. “Human-Interactive Robot Learning: Definition, Challenges,
and Recommendations.” Transactions on Human-Robot Interaction.'
short: K. Baraka, I. Idrees, T.K. Faulkner, E. Biyik, S. Booth, M. Chetouani, D.H.
Grollman, A. Saran, E. Senft, S. Tulli, A.-L. Vollmer, A. Andriella, H. Beierling,
T. Horter, J. Kober, I. Sheidlower, M.E. Taylor, S. van Waveren, X. Xiao, Transactions
on Human-Robot Interaction (n.d.).
date_created: 2025-09-17T12:42:45Z
date_updated: 2025-09-17T13:40:16Z
keyword:
- Robot learning
- Interactive learning systems
- Human-robot interaction
- Human-in-the-loop machine learning
- Teaching and learning
language:
- iso: eng
project:
- _id: '123'
name: TRR 318 - Subproject B5
publication: Transactions on Human-Robot Interaction
publication_status: submitted
status: public
title: 'Human-Interactive Robot Learning: Definition, Challenges, and Recommendations'
type: journal_article
user_id: '50995'
year: '2025'
...
---
_id: '61156'
abstract:
- lang: eng
text: Explainability has become an important topic in computer science and artificial
intelligence, leading to a subfield called Explainable Artificial Intelligence
(XAI). The goal of providing or seeking explanations is to achieve (better) ‘understanding’
on the part of the explainee. However, what it means to ‘understand’ is still
not clearly defined, and the concept itself is rarely the subject of scientific
investigation. This conceptual article aims to present a model of forms of understanding
for XAI-explanations and beyond. From an interdisciplinary perspective bringing
together computer science, linguistics, sociology, philosophy and psychology,
a definition of understanding and its forms, assessment, and dynamics during the
process of giving everyday explanations are explored. Two types of understanding
are considered as possible outcomes of explanations, namely enabledness, ‘knowing
how’ to do or decide something, and comprehension, ‘knowing that’ – both in different
degrees (from shallow to deep). Explanations regularly start with shallow understanding
in a specific domain and can lead to deep comprehension and enabledness of the
explanandum, which we see as a prerequisite for human users to gain agency. In
this process, the increase of comprehension and enabledness are highly interdependent.
Against the background of this systematization, special challenges of understanding
in XAI are discussed.
article_number: '101419'
article_type: original
author:
- first_name: Hendrik
full_name: Buschmeier, Hendrik
id: '76456'
last_name: Buschmeier
orcid: 0000-0002-9613-5713
- first_name: Heike M.
full_name: Buhl, Heike M.
id: '27152'
last_name: Buhl
- first_name: Friederike
full_name: Kern, Friederike
last_name: Kern
- first_name: Angela
full_name: Grimminger, Angela
id: '57578'
last_name: Grimminger
- first_name: Helen
full_name: Beierling, Helen
id: '50995'
last_name: Beierling
- first_name: Josephine Beryl
full_name: Fisher, Josephine Beryl
id: '56345'
last_name: Fisher
orcid: 0000-0002-9997-9241
- first_name: André
full_name: Groß, André
id: '93405'
last_name: Groß
orcid: 0000-0002-9593-7220
- first_name: Ilona
full_name: Horwath, Ilona
id: '68836'
last_name: Horwath
- first_name: Nils
full_name: Klowait, Nils
id: '98454'
last_name: Klowait
orcid: 0000-0002-7347-099X
- first_name: Stefan Teodorov
full_name: Lazarov, Stefan Teodorov
id: '90345'
last_name: Lazarov
orcid: 0009-0009-0892-9483
- first_name: Michael
full_name: Lenke, Michael
last_name: Lenke
- first_name: Vivien
full_name: Lohmer, Vivien
last_name: Lohmer
- first_name: Katharina
full_name: Rohlfing, Katharina
id: '50352'
last_name: Rohlfing
orcid: 0000-0002-5676-8233
- first_name: Ingrid
full_name: Scharlau, Ingrid
id: '451'
last_name: Scharlau
orcid: 0000-0003-2364-9489
- first_name: Amit
full_name: Singh, Amit
id: '91018'
last_name: Singh
orcid: 0000-0002-7789-1521
- first_name: Lutz
full_name: Terfloth, Lutz
id: '37320'
last_name: Terfloth
- first_name: Anna-Lisa
full_name: Vollmer, Anna-Lisa
id: '86589'
last_name: Vollmer
- first_name: Yu
full_name: Wang, Yu
last_name: Wang
- first_name: Annedore
full_name: Wilmes, Annedore
last_name: Wilmes
- first_name: Britta
full_name: Wrede, Britta
last_name: Wrede
citation:
ama: Buschmeier H, Buhl HM, Kern F, et al. Forms of Understanding for XAI-Explanations.
Cognitive Systems Research. 2025;94. doi:10.1016/j.cogsys.2025.101419
apa: Buschmeier, H., Buhl, H. M., Kern, F., Grimminger, A., Beierling, H., Fisher,
J. B., Groß, A., Horwath, I., Klowait, N., Lazarov, S. T., Lenke, M., Lohmer,
V., Rohlfing, K., Scharlau, I., Singh, A., Terfloth, L., Vollmer, A.-L., Wang,
Y., Wilmes, A., & Wrede, B. (2025). Forms of Understanding for XAI-Explanations.
Cognitive Systems Research, 94, Article 101419. https://doi.org/10.1016/j.cogsys.2025.101419
bibtex: '@article{Buschmeier_Buhl_Kern_Grimminger_Beierling_Fisher_Groß_Horwath_Klowait_Lazarov_et
al._2025, title={Forms of Understanding for XAI-Explanations}, volume={94}, DOI={10.1016/j.cogsys.2025.101419},
number={101419}, journal={Cognitive Systems Research}, author={Buschmeier, Hendrik
and Buhl, Heike M. and Kern, Friederike and Grimminger, Angela and Beierling,
Helen and Fisher, Josephine Beryl and Groß, André and Horwath, Ilona and Klowait,
Nils and Lazarov, Stefan Teodorov and et al.}, year={2025} }'
chicago: Buschmeier, Hendrik, Heike M. Buhl, Friederike Kern, Angela Grimminger,
Helen Beierling, Josephine Beryl Fisher, André Groß, et al. “Forms of Understanding
for XAI-Explanations.” Cognitive Systems Research 94 (2025). https://doi.org/10.1016/j.cogsys.2025.101419.
ieee: 'H. Buschmeier et al., “Forms of Understanding for XAI-Explanations,”
Cognitive Systems Research, vol. 94, Art. no. 101419, 2025, doi: 10.1016/j.cogsys.2025.101419.'
mla: Buschmeier, Hendrik, et al. “Forms of Understanding for XAI-Explanations.”
Cognitive Systems Research, vol. 94, 101419, 2025, doi:10.1016/j.cogsys.2025.101419.
short: H. Buschmeier, H.M. Buhl, F. Kern, A. Grimminger, H. Beierling, J.B. Fisher,
A. Groß, I. Horwath, N. Klowait, S.T. Lazarov, M. Lenke, V. Lohmer, K. Rohlfing,
I. Scharlau, A. Singh, L. Terfloth, A.-L. Vollmer, Y. Wang, A. Wilmes, B. Wrede,
Cognitive Systems Research 94 (2025).
date_created: 2025-09-08T14:24:32Z
date_updated: 2025-12-05T15:32:25Z
ddc:
- '006'
department:
- _id: '660'
doi: 10.1016/j.cogsys.2025.101419
file:
- access_level: closed
content_type: application/pdf
creator: hbuschme
date_created: 2025-12-01T21:02:20Z
date_updated: 2025-12-01T21:02:20Z
file_id: '62730'
file_name: Buschmeier-etal-2025-COGSYS.pdf
file_size: 10114981
relation: main_file
success: 1
file_date_updated: 2025-12-01T21:02:20Z
has_accepted_license: '1'
intvolume: ' 94'
keyword:
- understanding
- explaining
- explanations
- explainable
- AI
- interdisciplinarity
- comprehension
- enabledness
- agency
language:
- iso: eng
main_file_link:
- open_access: '1'
url: https://www.sciencedirect.com/science/article/pii/S1389041725000993?via%3Dihub
oa: '1'
project:
- _id: '111'
name: 'TRR 318; TP A01: Adaptives Erklären'
- _id: '112'
name: 'TRR 318; TP A02: Verstehensprozess einer Erklärung beobachten und auswerten'
- _id: '113'
name: TRR 318 - Subproject A3
- _id: '114'
name: 'TRR 318; TP A04: Integration des technischen Modells in das Partnermodell
bei der Erklärung von digitalen Artefakten'
- _id: '115'
name: 'TRR 318; TP A05: Echtzeitmessung der Aufmerksamkeit im Mensch-Roboter-Erklärdialog'
- _id: '122'
name: TRR 318 - Subproject B3
- _id: '123'
name: TRR 318 - Subproject B5
- _id: '119'
name: TRR 318 - Project Area Ö
publication: Cognitive Systems Research
publication_status: published
quality_controlled: '1'
status: public
title: Forms of Understanding for XAI-Explanations
type: journal_article
user_id: '57578'
volume: 94
year: '2025'
...
---
_id: '55394'
abstract:
- lang: eng
text: Nowadays we deal with robots and AI more and more in our everyday life. However,
their behavior is not always apparent to most lay users, especially in error situations.
This can lead to misconceptions about the behavior of the technologies being used.
This in turn can lead to misuse and rejection by users. Explanation, for example
through transparency, can address these misconceptions. However, explaining the
entire software or hardware would be confusing and overwhelming for users. Therefore,
this paper focuses on the ‘enabling’ architecture. It describes those aspects
of a robotic system that may need to be explained to enable someone to use the
technology effectively. Furthermore, this paper deals with the ‘explanandum’,
i.e. the corresponding misunderstandings or missing concepts of the enabling architecture
that need to be clarified. Thus, we have developed and are presenting an approach
to determine the ‘enabling’ architecture and the resulting ‘explanandum’ of complex
technologies.
article_type: original
author:
- first_name: Helen
full_name: Beierling, Helen
last_name: Beierling
- first_name: Phillip
full_name: Richter, Phillip
last_name: Richter
- first_name: Mara
full_name: Brandt, Mara
last_name: Brandt
- first_name: Lutz
full_name: Terfloth, Lutz
last_name: Terfloth
- first_name: Carsten
full_name: Schulte, Carsten
last_name: Schulte
- first_name: Heiko
full_name: Wersing, Heiko
last_name: Wersing
- first_name: Anna-Lisa
full_name: Vollmer, Anna-Lisa
last_name: Vollmer
citation:
ama: 'Beierling H, Richter P, Brandt M, et al. What you need to know about a learning
robot: Identifying the enabling architecture of complex systems. Cognitive
Systems Research. 2024;88.'
apa: 'Beierling, H., Richter, P., Brandt, M., Terfloth, L., Schulte, C., Wersing,
H., & Vollmer, A.-L. (2024). What you need to know about a learning robot:
Identifying the enabling architecture of complex systems. Cognitive Systems
Research, 88.'
bibtex: '@article{Beierling_Richter_Brandt_Terfloth_Schulte_Wersing_Vollmer_2024,
title={What you need to know about a learning robot: Identifying the enabling
architecture of complex systems}, volume={88}, journal={Cognitive Systems Research},
publisher={Elsevier}, author={Beierling, Helen and Richter, Phillip and Brandt,
Mara and Terfloth, Lutz and Schulte, Carsten and Wersing, Heiko and Vollmer, Anna-Lisa},
year={2024} }'
chicago: 'Beierling, Helen, Phillip Richter, Mara Brandt, Lutz Terfloth, Carsten
Schulte, Heiko Wersing, and Anna-Lisa Vollmer. “What You Need to Know about a
Learning Robot: Identifying the Enabling Architecture of Complex Systems.” Cognitive
Systems Research 88 (2024).'
ieee: 'H. Beierling et al., “What you need to know about a learning robot:
Identifying the enabling architecture of complex systems,” Cognitive Systems
Research, vol. 88, 2024.'
mla: 'Beierling, Helen, et al. “What You Need to Know about a Learning Robot: Identifying
the Enabling Architecture of Complex Systems.” Cognitive Systems Research,
vol. 88, Elsevier, 2024.'
short: H. Beierling, P. Richter, M. Brandt, L. Terfloth, C. Schulte, H. Wersing,
A.-L. Vollmer, Cognitive Systems Research 88 (2024).
date_created: 2024-07-26T08:01:23Z
date_updated: 2025-09-17T13:32:31Z
ddc:
- '006'
file:
- access_level: closed
content_type: application/pdf
creator: helebeen
date_created: 2025-09-17T13:31:11Z
date_updated: 2025-09-17T13:31:11Z
file_id: '61330'
file_name: mentaleModelle.pdf
file_size: 1577897
relation: main_file
success: 1
file_date_updated: 2025-09-17T13:31:11Z
funded_apc: '1'
has_accepted_license: '1'
intvolume: ' 88'
keyword:
- Robotics HRI Explainability Didactics Didactic reconstruction
language:
- iso: eng
main_file_link:
- open_access: '1'
oa: '1'
project:
- _id: '123'
name: 'TRR 318 - B5: TRR 318 - Subproject B5'
publication: Cognitive Systems Research
publication_status: published
publisher: Elsevier
status: public
title: 'What you need to know about a learning robot: Identifying the enabling architecture
of complex systems'
type: journal_article
user_id: '50995'
volume: 88
year: '2024'
...
---
_id: '55398'
abstract:
- lang: eng
text: "This position paper calls for an increase in the\r\nnumber and flexibility
of input mechanisms in user-robot in-\r\nteractions, highlighting their potential
to enhance learning algo-\r\nrithms through user feedback. Moreover, we argue
that refining\r\ninterfaces, interactions, and systems is crucial for the optimal\r\nintegration
of mechanisms into learning processes. Our call\r\nto research involves the development
of interfaces that enable\r\nflexible mechanisms, and the mechanisms interactions
can benefit\r\nmost from, and the algorithmic incorporation of user input. This\r\naims
to advance the adaptability and responsiveness of robotic\r\nsystems in human-centric
environments"
author:
- first_name: Helen
full_name: Beierling, Helen
last_name: Beierling
- first_name: Kira
full_name: Loos, Kira
last_name: Loos
- first_name: Robin
full_name: Helmert, Robin
last_name: Helmert
- first_name: Anna-Lisa
full_name: Vollmer, Anna-Lisa
last_name: Vollmer
citation:
ama: 'Beierling H, Loos K, Helmert R, Vollmer A-L. Advancing Human-Robot Collaboration:
The Impact of Flexible Input Mechanisms. Proc. Mech. Mapping Hum. Input Robots
Robot Learn. Shared Control/Autonomy-Workshop RSS; 2024.'
apa: 'Beierling, H., Loos, K., Helmert, R., & Vollmer, A.-L. (2024). Advancing
Human-Robot Collaboration: The Impact of Flexible Input Mechanisms. Proc.
Mech. Mapping Hum. Input Robots Robot Learn. Shared Control/Autonomy-Workshop
RSS.'
bibtex: '@book{Beierling_Loos_Helmert_Vollmer_2024, title={Advancing Human-Robot
Collaboration: The Impact of Flexible Input Mechanisms}, publisher={Proc. Mech.
Mapping Hum. Input Robots Robot Learn. Shared Control/Autonomy-Workshop RSS},
author={Beierling, Helen and Loos, Kira and Helmert, Robin and Vollmer, Anna-Lisa},
year={2024} }'
chicago: 'Beierling, Helen, Kira Loos, Robin Helmert, and Anna-Lisa Vollmer. Advancing
Human-Robot Collaboration: The Impact of Flexible Input Mechanisms. Proc.
Mech. Mapping Hum. Input Robots Robot Learn. Shared Control/Autonomy-Workshop
RSS, 2024.'
ieee: 'H. Beierling, K. Loos, R. Helmert, and A.-L. Vollmer, Advancing Human-Robot
Collaboration: The Impact of Flexible Input Mechanisms. Proc. Mech. Mapping
Hum. Input Robots Robot Learn. Shared Control/Autonomy-Workshop RSS, 2024.'
mla: 'Beierling, Helen, et al. Advancing Human-Robot Collaboration: The Impact
of Flexible Input Mechanisms. Proc. Mech. Mapping Hum. Input Robots Robot
Learn. Shared Control/Autonomy-Workshop RSS, 2024.'
short: 'H. Beierling, K. Loos, R. Helmert, A.-L. Vollmer, Advancing Human-Robot
Collaboration: The Impact of Flexible Input Mechanisms, Proc. Mech. Mapping Hum.
Input Robots Robot Learn. Shared Control/Autonomy-Workshop RSS, 2024.'
date_created: 2024-07-26T08:20:08Z
date_updated: 2025-09-17T12:18:27Z
ddc:
- '004'
extern: '1'
file:
- access_level: closed
content_type: application/pdf
creator: helebeen
date_created: 2024-07-26T08:23:27Z
date_updated: 2024-07-26T08:23:27Z
file_id: '55399'
file_name: beierling_advancing.pdf
file_size: 256974
relation: main_file
success: 1
file_date_updated: 2024-07-26T08:23:27Z
has_accepted_license: '1'
language:
- iso: eng
main_file_link:
- open_access: '1'
oa: '1'
project:
- _id: '123'
name: 'TRR 318 - B5: TRR 318 - Subproject B5'
publisher: Proc. Mech. Mapping Hum. Input Robots Robot Learn. Shared Control/Autonomy-Workshop
RSS
status: public
title: 'Advancing Human-Robot Collaboration: The Impact of Flexible Input Mechanisms'
type: misc
user_id: '50995'
year: '2024'
...
---
_id: '51370'
author:
- first_name: Leonie
full_name: Dyck, Leonie
last_name: Dyck
- first_name: Helen
full_name: Beierling, Helen
last_name: Beierling
- first_name: Robin
full_name: Helmert, Robin
last_name: Helmert
- first_name: Anna-Lisa
full_name: Vollmer, Anna-Lisa
last_name: Vollmer
citation:
ama: 'Dyck L, Beierling H, Helmert R, Vollmer A-L. Technical Transparency for Robot
Navigation Through AR Visualizations. In: Companion of the 2023 ACM/IEEE International
Conference on Human-Robot Interaction. ACM; 2023:720-724. doi:10.1145/3568294.3580181'
apa: Dyck, L., Beierling, H., Helmert, R., & Vollmer, A.-L. (2023). Technical
Transparency for Robot Navigation Through AR Visualizations. Companion of the
2023 ACM/IEEE International Conference on Human-Robot Interaction, 720–724.
https://doi.org/10.1145/3568294.3580181
bibtex: '@inproceedings{Dyck_Beierling_Helmert_Vollmer_2023, title={Technical Transparency
for Robot Navigation Through AR Visualizations}, DOI={10.1145/3568294.3580181},
booktitle={Companion of the 2023 ACM/IEEE International Conference on Human-Robot
Interaction}, publisher={ACM}, author={Dyck, Leonie and Beierling, Helen and Helmert,
Robin and Vollmer, Anna-Lisa}, year={2023}, pages={720–724} }'
chicago: Dyck, Leonie, Helen Beierling, Robin Helmert, and Anna-Lisa Vollmer. “Technical
Transparency for Robot Navigation Through AR Visualizations.” In Companion
of the 2023 ACM/IEEE International Conference on Human-Robot Interaction,
720–24. ACM, 2023. https://doi.org/10.1145/3568294.3580181.
ieee: 'L. Dyck, H. Beierling, R. Helmert, and A.-L. Vollmer, “Technical Transparency
for Robot Navigation Through AR Visualizations,” in Companion of the 2023 ACM/IEEE
International Conference on Human-Robot Interaction, Stockholm , 2023, pp.
720–724, doi: 10.1145/3568294.3580181.'
mla: Dyck, Leonie, et al. “Technical Transparency for Robot Navigation Through AR
Visualizations.” Companion of the 2023 ACM/IEEE International Conference on
Human-Robot Interaction, ACM, 2023, pp. 720–24, doi:10.1145/3568294.3580181.
short: 'L. Dyck, H. Beierling, R. Helmert, A.-L. Vollmer, in: Companion of the 2023
ACM/IEEE International Conference on Human-Robot Interaction, ACM, 2023, pp. 720–724.'
conference:
end_date: 2023-3-16
location: 'Stockholm '
name: 'HRI ''23: ACM/IEEE International Conference on Human-Robot Interaction'
start_date: 2023-3-13
date_created: 2024-02-18T10:30:36Z
date_updated: 2024-02-26T08:45:06Z
department:
- _id: '660'
doi: 10.1145/3568294.3580181
language:
- iso: eng
page: 720-724
project:
- _id: '123'
name: 'TRR 318 - B5: TRR 318 - Subproject B5'
publication: Companion of the 2023 ACM/IEEE International Conference on Human-Robot
Interaction
publication_status: published
publisher: ACM
status: public
title: Technical Transparency for Robot Navigation Through AR Visualizations
type: conference
user_id: '54779'
year: '2023'
...
---
_id: '55396'
abstract:
- lang: eng
text: "Explainability has become an important topic in computer science and\r\nartificial
intelligence, leading to a subfield called Explainable Artificial\r\nIntelligence
(XAI). The goal of providing or seeking explanations is to achieve\r\n(better)
'understanding' on the part of the explainee. However, what it means\r\nto 'understand'
is still not clearly defined, and the concept itself is rarely\r\nthe subject
of scientific investigation. This conceptual article aims to\r\npresent a model
of forms of understanding in the context of XAI and beyond.\r\nFrom an interdisciplinary
perspective bringing together computer science,\r\nlinguistics, sociology, and
psychology, a definition of understanding and its\r\nforms, assessment, and dynamics
during the process of giving everyday\r\nexplanations are explored. Two types
of understanding are considered as\r\npossible outcomes of explanations, namely
enabledness, 'knowing how' to do or\r\ndecide something, and comprehension, 'knowing
that' -- both in different\r\ndegrees (from shallow to deep). Explanations regularly
start with shallow\r\nunderstanding in a specific domain and can lead to deep
comprehension and\r\nenabledness of the explanandum, which we see as a prerequisite
for human users\r\nto gain agency. In this process, the increase of comprehension
and enabledness\r\nare highly interdependent. Against the background of this systematization,\r\nspecial
challenges of understanding in XAI are discussed."
author:
- first_name: Hendrik
full_name: Buschmeier, Hendrik
last_name: Buschmeier
- first_name: Heike M.
full_name: Buhl, Heike M.
last_name: Buhl
- first_name: Friederike
full_name: Kern, Friederike
last_name: Kern
- first_name: Angela
full_name: Grimminger, Angela
last_name: Grimminger
- first_name: Helen
full_name: Beierling, Helen
last_name: Beierling
- first_name: Josephine
full_name: Fisher, Josephine
last_name: Fisher
- first_name: André
full_name: Groß, André
last_name: Groß
- first_name: Ilona
full_name: Horwath, Ilona
last_name: Horwath
- first_name: Nils
full_name: Klowait, Nils
last_name: Klowait
- first_name: Stefan
full_name: Lazarov, Stefan
last_name: Lazarov
- first_name: Michael
full_name: Lenke, Michael
last_name: Lenke
- first_name: Vivien
full_name: Lohmer, Vivien
last_name: Lohmer
- first_name: Katharina
full_name: Rohlfing, Katharina
last_name: Rohlfing
- first_name: Ingrid
full_name: Scharlau, Ingrid
last_name: Scharlau
- first_name: Amit
full_name: Singh, Amit
last_name: Singh
- first_name: Lutz
full_name: Terfloth, Lutz
last_name: Terfloth
- first_name: Anna-Lisa
full_name: Vollmer, Anna-Lisa
last_name: Vollmer
- first_name: Yu
full_name: Wang, Yu
last_name: Wang
- first_name: Annedore
full_name: Wilmes, Annedore
last_name: Wilmes
- first_name: Britta
full_name: Wrede, Britta
last_name: Wrede
citation:
ama: Buschmeier H, Buhl HM, Kern F, et al. Forms of Understanding of XAI-Explanations.
arXiv:231108760. Published online 2023.
apa: Buschmeier, H., Buhl, H. M., Kern, F., Grimminger, A., Beierling, H., Fisher,
J., Groß, A., Horwath, I., Klowait, N., Lazarov, S., Lenke, M., Lohmer, V., Rohlfing,
K., Scharlau, I., Singh, A., Terfloth, L., Vollmer, A.-L., Wang, Y., Wilmes, A.,
& Wrede, B. (2023). Forms of Understanding of XAI-Explanations. In arXiv:2311.08760.
bibtex: '@article{Buschmeier_Buhl_Kern_Grimminger_Beierling_Fisher_Groß_Horwath_Klowait_Lazarov_et
al._2023, title={Forms of Understanding of XAI-Explanations}, journal={arXiv:2311.08760},
author={Buschmeier, Hendrik and Buhl, Heike M. and Kern, Friederike and Grimminger,
Angela and Beierling, Helen and Fisher, Josephine and Groß, André and Horwath,
Ilona and Klowait, Nils and Lazarov, Stefan and et al.}, year={2023} }'
chicago: Buschmeier, Hendrik, Heike M. Buhl, Friederike Kern, Angela Grimminger,
Helen Beierling, Josephine Fisher, André Groß, et al. “Forms of Understanding
of XAI-Explanations.” ArXiv:2311.08760, 2023.
ieee: H. Buschmeier et al., “Forms of Understanding of XAI-Explanations,”
arXiv:2311.08760. 2023.
mla: Buschmeier, Hendrik, et al. “Forms of Understanding of XAI-Explanations.” ArXiv:2311.08760,
2023.
short: H. Buschmeier, H.M. Buhl, F. Kern, A. Grimminger, H. Beierling, J. Fisher,
A. Groß, I. Horwath, N. Klowait, S. Lazarov, M. Lenke, V. Lohmer, K. Rohlfing,
I. Scharlau, A. Singh, L. Terfloth, A.-L. Vollmer, Y. Wang, A. Wilmes, B. Wrede,
ArXiv:2311.08760 (2023).
date_created: 2024-07-26T08:06:59Z
date_updated: 2024-07-26T11:23:20Z
ddc:
- '006'
external_id:
arxiv:
- '2311.08760'
file:
- access_level: closed
content_type: application/pdf
creator: helebeen
date_created: 2024-07-26T08:18:20Z
date_updated: 2024-07-26T08:18:20Z
file_id: '55397'
file_name: 2311.08760v1.pdf
file_size: 382457
relation: main_file
success: 1
file_date_updated: 2024-07-26T08:18:20Z
has_accepted_license: '1'
language:
- iso: eng
project:
- _id: '123'
name: 'TRR 318 - B5: TRR 318 - Subproject B5'
publication: arXiv:2311.08760
status: public
title: Forms of Understanding of XAI-Explanations
type: preprint
user_id: '50995'
year: '2023'
...