I wear mules round the house, so neither, slippers, shoes or bare feet. The moment I sit down my feet are out of my shoes, not bare, I get cold feet, but shoe less.
We live in an old house with steep windy uncarpeted stairs and wooden floors. The chance of slipping is high, so I insist that everyone staying in the house wears, rubber soled footwear, whether slippers or shoes. No bare feet since DS slipped on carpeted stairs (in a different house) and broke his ankle.