  This paper presents JEDAI, an AI system designed for outreach and educational
efforts aimed at non-AI experts. JEDAI features a novel synthesis of research
ideas from integrated task and motion planning and explainable AI. JEDAI helps
users create high-level, intuitive plans while ensuring that they will be
executable by the robot. It also provides users customized explanations about
errors and helps improve their understanding of AI planning as well as the
limits and capabilities of the underlying robot system.
