Achieving truly fluid interaction with robots with speech interfaces remains a hard problem, and the experience of current Human-Robot Interaction (HRI) remains laboured and frustrating. Some of the barriers to fluid interaction stem from a lack of a suitable development platform for HRI for improving interaction, even in robotic Wizard-of-Oz (WoZ) modes of operation used for data collection and prototyping. Based on previous systems, we propose the properties of interruptibility and correction (IaC), pollability, latency measurement and optimisation and time-accurate reproducibility of actions from logging data as key criteria for a fluid WoZ system to support fluid error correction. We finish by presenting a Virtual Reality (VR) HRI simulation environment for mobile manipulators which meets these criteria.
@article{arxiv.2604.19374,
title = {Achieving Interaction Fluidity in a Wizard-of-Oz Robotic System: A Prototype for Fluid Error-Correction},
author = {Carlos Baptista De Lima and Julian Hough and Frank Förster and Patrick Holthaus and Yongjun Zheng},
journal= {arXiv preprint arXiv:2604.19374},
year = {2026}
}
Comments
5 pages, 1 figure, Workshop on Errors, Mistakes, and Failures in Humans and Robots at 2026 ACM/IEEE International Conference on Human-Robot Interaction