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While we can see robots in more areas of our lives, they still make errors.One common cause of failure stems from the robot perception module whendetecting objects. Allowing users to correct such errors can help improve theinteraction and prevent the same errors in the future. Consequently, weinvestigate the effectiveness of a virtual reality (VR) framework forcorrecting perception errors of a Franka Panda robot. We conducted a user studywith 56 participants who interacted with the robot using both VR and screeninterfaces. Participants learned to collaborate with the robot faster in the VRinterface compared to the screen interface. Additionally, participants foundthe VR interface more immersive, enjoyable, and expressed a preference forusing it again. These findings suggest that VR interfaces may offer advantagesover screen interfaces for human-robot interaction in erroneous environments.

Happily Error After: Framework Development and User Study for Correcting Robot Perception Errors in Virtual Reality