FIGURE 1.

A storyboard describing how a human-robot team might free an earthquake victim from underneath a pile of rocks. In this storyboard, we can see how the robot picks up a large rock, unaware that this will cause another rock to fall on the head of the victim (panel C). The human notices the issue, and steps in to prevent the rock from falling (panel D). This event can help the robot learn about the task, and that it apparently made a mistake. The human can learn about the capabilities of the robot, namely that it didn’t understand how the rocks would fall and that it would cause harm.