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Towards Providing Explanations for AI Planner Decisions

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Figure

Figure 1: Possible plan behaviours after human-decision injection.
Figure 4: New plan generated from the initial state, forcing the high-lighted user action.
Figure 9 shows an overview of the XAI-PLANThe XAI-Plan node implements the algorithms for generat- framework.ing explanatory plans, described in sections 3.1 and 4, and
Figure 9: XAI-PLAN architecture and its integration with ROSPlan.

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