Abstract: Systems and methods for human-robot communication are proved. More particularly, some embodiments use augmented reality to facilitate communication of robot intention and teleoperation in human-robot cooperative environments. Various embodiments of the present technology provide a middleware that integrates augmented reality (AR) with novel teleoperation interfaces to increase operation effectiveness, support the user in conducting concurrent work, and decrease stress. Various embodiments provide predictive graphical interfaces such that a teleoperator controls a virtual robot surrogate, rather than directly operating the robot itself, providing the user with foresight regarding where the physical robot will end up and how it will get there. In accordance with various embodiments a user may select between two AR interfaces using such a surrogate: one focused on real-time control and one inspired by waypoint delegation.