Robots are often deployed in remote locations for tasks such as exploration, where users cannot directly perceive the agent and its environment. For Human-In-The-Loop applications, operators must have a comprehensive understanding of the robot’s current state and its environment to take necessary actions and effectively assist the agent. In this work, we compare different explanation styles to determine the most effective way to convey real-time updates to users. Additionally, we formulate these explanation styles as separate fine-tuning tasks and assess the effectiveness of large language models in delivering in-mission updates to maintain situation awareness. The code and dataset for this work are available at:———

This paper presents a study to understand the issues related to using NLG to humanise explanations from a popular interpretable machine learning framework called LIME. Our study shows that self-reported rating of NLG explanation was higher than that for a non-NLG explanation. However, when tested for comprehension, the results were not as clear-cut showing the need for performing more studies to uncover the factors responsible for high-quality NLG explanations.