Table 1.

Readable representation of a shared plan for a music game that was learned by the iCub via demonstration and spoken language.

Music (Agent1, Agent2, Object1, Object2, Object3) {

Default: Object1 = Drum,

Object2 = Guitar, Object3 = Keyboard,

Agent1 = Human, Agent2 = iCub

put(Agent1, Object1, North)

put(Agent2, Object1, South)

put(Agent1, Object2, North)

put(Agent2, Object2, West)

put(Agent1, Object3, North)

put(Agent2, Object3, East)

}