People with autism spectrum disorder (ASD) have cognitive ability, organizational communication, and self-expression difficulties. It is necessary to study their processing and comprehension of what they hear; their problem-solving, logic, and understanding of cause-and-effect, inference, and the meaning of proverbs; and their ability to ask and answer questions to assess the cognitive stage of their autism. We designed an organizational sentence menu (OSM) to teach children with ASD to communicate with artificial intelligence (AI) robots (operant interaction for auditory understanding, OIAU). Speech generation devices (SGDs) with various OSM designs were tested on four children with autism spectrum disorder, and their improvement was assessed. We used applied behavioral analysis (ABA) to compare the effects of our interventions using various OSM designs. The results showed that our pedagogical guidance strategies were effective. These strategies incorporated AI robot-supported recommendations for the design of interactive operating interfaces that emerge from a stakeholder perspective. This study provides useful information on alternatives that help children with ASD advance their understanding of social interaction.