  Due to the COVID-19 pandemic, conducting Human-Robot Interaction (HRI)
studies in person is not permissible due to social distancing practices to
limit the spread of the virus. Therefore, a virtual reality (VR) simulation
with a virtual robot may offer an alternative to real-life HRI studies. Like a
real intelligent robot, a virtual robot can utilize the same advanced
algorithms to behave autonomously. This paper introduces HAVEN (HRI-based
Augmentation in a Virtual robot Environment using uNity), a VR simulation that
enables users to interact with a virtual robot. The goal of this system design
is to enable researchers to conduct HRI Augmented Reality studies using a
virtual robot without being in a real environment. This framework also
introduces two common HRI experiment designs: a hallway passing scenario and
human-robot team object retrieval scenario. Both reflect HAVEN's potential as a
tool for future AR-based HRI studies.
