# Why Robots Are Bad at Detecting Their Mistakes: Limitations of Miscommunication Detection in Human-Robot Dialogue

arXiv: https://arxiv.org/abs/2506.20268 · HTML: https://mlsanity.com/paper/2506.20268/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 13 of its 46 references that are in the map.
- First posted on arXiv 25 Jun 2025.

## Builds on (most cited first, 13 of 13)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [MELD: A Multimodal Multi-Party Dataset for Emotion Recognition in Conversations](https://mlsanity.com/paper/1810.02508/) (2018)
- [MediaPipe: A Framework for Building Perception Pipelines](https://mlsanity.com/paper/1906.08172/) (2019)
- [Challenges in Representation Learning: A report on three machine learning contests](https://mlsanity.com/paper/1307.0414/) (2013)
- [Deep Facial Expression Recognition: A Survey](https://mlsanity.com/paper/1804.08348/) (2018)
- [Crowdsourcing a Word-Emotion Association Lexicon](https://mlsanity.com/paper/1308.6297/) (2013)
- [EmoBank: Studying the Impact of Annotation Perspective and Representation Format on Dimensional Emotion Analysis](https://mlsanity.com/paper/2205.01996/) (2022)
- [Dimensional Modeling of Emotions in Text with Appraisal Theories: Corpus Creation, Annotation Reliability, and Prediction](https://mlsanity.com/paper/2206.05238/) (2022)
- [FaceNet2ExpNet: Regularizing a Deep Face Recognition Net for Expression Recognition](https://mlsanity.com/paper/1609.06591/) (2016)
- [AI Challenges in Human-Robot Cognitive Teaming](https://mlsanity.com/paper/1707.04775/) (2017)
- [APPReddit: a Corpus of Reddit Posts Annotated for Appraisal](https://mlsanity.com/paper/2205.15627/) (2022)
- [Modeling Human Response to Robot Errors for Timely Error Detection](https://mlsanity.com/paper/2208.00565/) (2022)

## Built on by (most cited first, 1 of 1)

- [A Customer Journey in the Land of Oz: Leveraging the Wizard of Oz Technique to Model Emotions in Customer Service Interactions](https://mlsanity.com/paper/2511.21909/) (2025)

## Abstract (arXiv)

Detecting miscommunication in human-robot interaction is a critical function for maintaining user engagement and trust. While humans effortlessly detect communication errors in conversations through both verbal and non-verbal cues, robots face significant challenges in interpreting non-verbal feedback, despite advances in computer vision for recognizing affective expressions. This research evaluates the effectiveness of machine learning models in detecting miscommunications in robot dialogue. Using a multi-modal dataset of 240 human-robot conversations, where four distinct types of conversational failures were systematically introduced, we assess the performance of state-of-the-art computer vision models. After each conversational turn, users provided feedback on whether they perceived an error, enabling an analysis of the models' ability to accurately detect robot mistakes. Despite using state-of-the-art models, the performance barely exceeds random chance in identifying miscommunication, while on a dataset with more expressive emotional content, they successfully identified confused states. To explore the underlying cause, we asked human raters to do the same. They could also only identify around half of the induced miscommunications, similarly to our model. These results uncover a fundamental limitation in identifying robot miscommunications in dialogue: even when users perceive the induced miscommunication as such, they often do not communicate this to their robotic conversation partner. This knowledge can shape expectations of the performance of computer vision models and can help researchers to design better human-robot conversations by deliberately eliciting feedback where needed.