Human collaborators can effectively communicate with their partners to finish a common task by inferring each others mental states (e.g., goals, beliefs, and desires). Such mind-aware communication minimizes the discrepancy among collaborators mental states, and is crucial to the success in human ad-hoc teaming. We believe that robots collaborating with human users should demonstrate similar pedagogic behavior. Thus, in this paper, we propose a novel explainable AI (XAI) framework for achieving human-like communication in human-robot collaborations, where the robot builds a hierarchical mind model of the human user and generates explanations of its own mind as a form of communications based on its online Bayesian inference of the users mental state. To evaluate our framework, we conduct a user study on a real-time human-robot cooking task. Experimental results show that the generated explanations of our approach significantly improves the collaboration performance and user perception of the robot. Code and video demos are available on our project website: https://xfgao.github.io/xCookingWeb/.
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