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Typically, when human learners make mistakes, their teachers tolerate those errors, especially when students exhibit acceptable progress overall. But how do errors and appearance of a trainee robot affect human teachers\u2019 trust while the robot is generally improving in performing a task? First, an online survey with 173 participants investigated perceived severity of robot errors in performing a cooking task. These findings were then used in an interactive online experiment with 138 participants, in which the participants were able to remotely teach their food preparation preferences to trainee robots with two different appearances. Compared with an untidy-looking robot, a tidy-looking robot was rated as more professional, without impacting participants\u2019 trust. Furthermore, while larger errors at the end of iterative training had a greater impact, even a small error could significantly reduce trust in a trainee robot performing the domestic physical task of food preparation, regardless of the robot\u2019s appearance. The present study extends human\u2013robot interaction knowledge about teachers\u2019 perception of trainee robots, particularly when teachers observe them accomplishing domestic physical tasks.<\/jats:p>","DOI":"10.1145\/3582516","type":"journal-article","created":{"date-parts":[[2023,2,17]],"date-time":"2023-02-17T11:58:38Z","timestamp":1676635118000},"page":"1-41","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":7,"title":["How Do We Perceive Our Trainee Robots? Exploring the Impact of Robot Errors and Appearance When Performing Domestic Physical Tasks on Teachers\u2019 Trust and Evaluations"],"prefix":"10.1145","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7818-4194","authenticated-orcid":false,"given":"Pourya","family":"Aliasghari","sequence":"first","affiliation":[{"name":"Social and Intelligent Robotics Research Laboratory, Faculty of Engineering, University of Waterloo, Waterloo, Ontario, Canada"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5432-4236","authenticated-orcid":false,"given":"Moojan","family":"Ghafurian","sequence":"additional","affiliation":[{"name":"Social and Intelligent Robotics Research Laboratory, Faculty of Engineering, University of Waterloo, Waterloo, Ontario, Canada"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7807-1875","authenticated-orcid":false,"given":"Chrystopher L.","family":"Nehaniv","sequence":"additional","affiliation":[{"name":"Social and Intelligent Robotics Research Laboratory, Faculty of Engineering, University of Waterloo, Waterloo, Ontario, Canada"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9263-3897","authenticated-orcid":false,"given":"Kerstin","family":"Dautenhahn","sequence":"additional","affiliation":[{"name":"Social and Intelligent Robotics Research Laboratory, Faculty of Engineering, University of Waterloo, Waterloo, Ontario, Canada"}]}],"member":"320","published-online":{"date-parts":[[2023,5,5]]},"reference":[{"key":"e_1_3_3_2_2","volume-title":"Exploring Human Teachers\u2019 Interpretations of Trainee Robots\u2019 Nonverbal Behaviour and Errors","author":"Aliasghari Pourya","year":"2021","unstructured":"Pourya Aliasghari. 2021. 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