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Voice-based communication is often cited as one of the most `natural' ways in which humans and robots might interact, and the recent availability of accurate automatic speech recognition and intelligible speech synthesis has enabled researchers to integrate advanced off-the-shelf spoken language technology components into their robot platforms. Despite this, the resulting interactions are anything but `natural'. It transpires that simply giving a robot a voice doesn't mean that a user will know how (or when) to talk to it, and the resulting `conversations' tend to be stilted, one-sided and short. On the surface, these difficulties might appear to be fairly trivial consequences of users' unfamiliarity with robots (and \emph{vice versa}), and that any problems would be mitigated by long-term use by the human, coupled with `deep learning' by the robot. However, it is argued here that such communication failures are indicative of a deeper malaise: a fundamental lack of basic principles -- \emph{priors} -- underpinning not only speech-based interaction in particular, but (vocal) interactivity in general. This is evidenced not only by the fact that contemporary spoken language systems already require training data sets that are orders-of-magnitude greater than that experienced by a young child, but also by the lack of design principles for creating effective communicative human-robot interaction. This short position paper identifies some of the key areas where theoretical insights might help overcome these shortfalls.