The execution phase starts with a human request for action (e.g., boil the water).
recent years have seen an increasing amount of work on task learning from human partners (Saunders et al., 2006;Chernova and Veloso, 2008;Cantrell et al., 2012;Mohan et al., 2013;Asada et al., 2009;Mohseni-Kabir et al., 2015;Nejati et al., 2006;.