Technical Transparency for Robot Navigation Through AR Visualizations. - Leonie Dyck; Helen Beierling; Robin Helmert; Anna-Lisa Vollmer (HRI (Companion), 2023)

Forms of Understanding of XAI-Explanations. - Hendrik Buschmeier; Heike M. Buhl; Friederike Kern; Angela Grimminger; Helen Beierling; Josephine Beryl Fisher; André Groß; Ilona Horwath; Nils Oliver Klowait; Stefan Lazarov; Michael Lenke; Vivien Lohmer; et al. (CoRR, 2023)

What you need to know about a learning robot: Identifying the enabling architecture of complex systems. - Helen Beierling; Phillip Richter; Mara Brandt; Lutz Terfloth; Carsten Schulte 001; Heiko Wersing; Anna-Lisa Vollmer (Cogn. Syst. Res., 2024)

The Power of Combined Modalities in Interactive Robot Learning. - Helen Beierling; Anna-Lisa Vollmer (CoRR, 2024)

The power of combined modalities in interactive robot learning. - Helen Beierling; Robin Beierling; Anna-Lisa Vollmer (Frontiers Robotics AI, 2025)