“…(e.g., one metaphor is, for example, Figma for app development or Adobe Character Animator for animation) In such tools, users also must be able to design without the need for low-level robot programming, such as actuation control, sensor access, and networking. Such AR authoring tools have been explored in the HCI context [40,247,311,455] but are still relatively unexplored in the domain of AR-HRI except for a few examples [51,422]. We envision the future of intuitive authoring tools should invoke further design explorations of AR-HRI systems (Section 7) by democratizing the opportunity to the broader community.…”