Using the PIONIER visitor instrument that combines the light of the four Auxiliary Telescopes of ESO's Very Large TelescopeInterferometer, we precisely measure the diameters of several symbiotic and related stars: HD 352, HD 190658, V1261 Ori, ER Del, FG Ser, and AG Peg. These diameters -in the range of 0.6−2.3 milli-arcsec -are used to assess the filling factor of the Roche lobe of the mass-losing giants and provide indications on the nature of the ongoing mass transfer. We also provide the first spectroscopic orbit of ER Del, based on CORAVEL and HERMES/Mercator observations. The system is found to have an eccentric orbit with a period of 5.7 years. In the case of the symbiotic star FG Ser, we find that the diameter changes by 13% over the course of 41 days, while the observations of HD 352 are indicative of an elongation. Both these stars are found to have a Roche filling factor close to 1, as is most likely the case for HD 190658 as well, while the three other stars have factors below 0.5-0.6. Our observations reveal the power of interferometry for the study of interacting binary stars; the main limitation in our conclusions is the poorly known distances of the objects.