“…As such, the design of interaction mechanisms that enable users to work around this unpredictability is an open challenge in HCI [28,45]. Nascent instantiations of the AIoT focus on the domestic environment and include smart thermostats [47,48,49], domestic appliances [4,13], energy systems [2,3] and cleaning robots [17,43]. With a few exceptions, which have studied off-the-shelf products such as the Nest Thermostat [47,48] and the Roomba [17,43], prior studies around autonomous systems in the home have focused on research prototypes.…”