# Immersive Explainability: Visualizing Robot Navigation Decisions through XAI Semantic Scene Projections in Virtual Reality

arXiv: https://arxiv.org/abs/2504.00682 · HTML: https://mlsanity.com/paper/2504.00682/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Interpretable and logic-guided RL, one of 15 directions in Deep reinforcement learning methods.
- Builds on 16 of its 28 references that are in the map.
- First posted on arXiv 1 Apr 2025.

## Placed in

- Deep reinforcement learning methods / [Interpretable and logic-guided RL](https://mlsanity.com/deeprl/interpretable-and-logic-guided-rl/)

## Builds on (most cited first, 16 of 16)

- [A Unified Approach to Interpreting Model Predictions](https://mlsanity.com/paper/1705.07874/) (2017)
- ["Why Should I Trust You?": Explaining the Predictions of Any Classifier](https://mlsanity.com/paper/1602.04938/) (2016)
- [Axiomatic Attribution for Deep Networks](https://mlsanity.com/paper/1703.01365/) (2017)
- [Addressing Function Approximation Error in Actor-Critic Methods](https://mlsanity.com/paper/1802.09477/) (2018)
- [Deep Inside Convolutional Networks: Visualising Image Classification Models and Saliency Maps](https://mlsanity.com/paper/1312.6034/) (2013)
- [From Anecdotal Evidence to Quantitative Evaluation Methods: A Systematic Review on Evaluating Explainable AI](https://mlsanity.com/paper/2201.08164/) (2022)
- [Metrics for Explainable AI: Challenges and Prospects](https://mlsanity.com/paper/1812.04608/) (2018)
- [Questioning the AI: Informing Design Practices for Explainable AI User Experiences](https://mlsanity.com/paper/2001.02478/) (2020)
- [A Survey on the Explainability of Supervised Machine Learning](https://mlsanity.com/paper/2011.07876/) (2020)
- [Explainable Reinforcement Learning: A Survey](https://mlsanity.com/paper/2005.06247/) (2020)
- [Towards Human-centered Explainable AI: A Survey of User Studies for Model Explanations](https://mlsanity.com/paper/2210.11584/) (2022)
- [Interpretable to Whom? A Role-based Model for Analyzing Interpretable Machine Learning Systems](https://mlsanity.com/paper/1806.07552/) (2018)
- [Semantic-Based Explainable AI: Leveraging Semantic Scene Graphs and Pairwise Ranking to Explain Robot Failures](https://mlsanity.com/paper/2108.03554/) (2021)
- [BASED-XAI: Breaking Ablation Studies Down for Explainable Artificial Intelligence](https://mlsanity.com/paper/2207.05566/) (2022)
- [Explainable Human-Robot Training and Cooperation with Augmented Reality](https://mlsanity.com/paper/2302.01039/) (2023)
- [Robot Explanation Identity](https://mlsanity.com/paper/2405.13841/) (2024)

## Abstract (arXiv)

End-to-end robot policies achieve high performance through neural networks trained via reinforcement learning (RL). Yet, their black box nature and abstract reasoning pose challenges for human-robot interaction (HRI), because humans may experience difficulty in understanding and predicting the robot's navigation decisions, hindering trust development. We present a virtual reality (VR) interface that visualizes explainable AI (XAI) outputs and the robot's lidar perception to support intuitive interpretation of RL-based navigation behavior. By visually highlighting objects based on their attribution scores, the interface grounds abstract policy explanations in the scene context. This XAI visualization bridges the gap between obscure numerical XAI attribution scores and a human-centric semantic level of explanation. A within-subjects study with 24 participants evaluated the effectiveness of our interface for four visualization conditions combining XAI and lidar. Participants ranked scene objects across navigation scenarios based on their importance to the robot, followed by a questionnaire assessing subjective understanding and predictability. Results show that semantic projection of attributions significantly enhances non-expert users' objective understanding and subjective awareness of robot behavior. In addition, lidar visualization further improves perceived predictability, underscoring the value of integrating XAI and sensor for transparent, trustworthy HRI.