# Training Models to Detect Successive Robot Errors from Human Reactions

arXiv: https://arxiv.org/abs/2510.09080 · HTML: https://mlsanity.com/paper/2510.09080/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 5 of its 9 references that are in the map.
- First posted on arXiv 10 Oct 2025.

## Builds on (most cited first, 5 of 5)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields](https://mlsanity.com/paper/1812.08008/) (2018)
- [Modeling Human Response to Robot Errors for Timely Error Detection](https://mlsanity.com/paper/2208.00565/) (2022)
- [ERR@HRI 2024 Challenge: Multimodal Detection of Errors and Failures in Human-Robot Interactions](https://mlsanity.com/paper/2407.06094/) (2024)

## Abstract (arXiv)

As robots become more integrated into society, detecting robot errors is essential for effective human-robot interaction (HRI). When a robot fails repeatedly, how can it know when to change its behavior? Humans naturally respond to robot errors through verbal and nonverbal cues that intensify over successive failures-from confusion and subtle speech changes to visible frustration and impatience. While prior work shows that human reactions can indicate robot failures, few studies examine how these evolving responses reveal successive failures. This research uses machine learning to recognize stages of robot failure from human reactions. In a study with 26 participants interacting with a robot that made repeated conversational errors, behavioral features were extracted from video data to train models for individual users. The best model achieved 93.5% accuracy for detecting errors and 84.1% for classifying successive failures. Modeling the progression of human reactions enhances error detection and understanding of repeated interaction breakdowns in HRI.