The Wire uploaded The Wire Salon with Robert Wyatt, that took place at London's Cafe Oto, 12 April, 2012, so just head on over here to listen! You may download it too.
From The Wire site:
"A rare onstage discussion with Robert Wyatt, in which the great singer-songwriter talked about selected tracks from his back catalogue. The discussion was chaired by The Wire's Tony Herrington and included an audience Q&A section.