If robots are to succeed in novel tasks, they must be able to learn from humans. To improve such human-robot interaction, a system is presented that provides dialog structure and engages the human in an exploratory teaching scenario. Thereby, we specifically target untrained users, who are supported by mixed-initiative interaction using verbal and non-verbal modalities. We present the principles of dialog structuring based on an object learning and manipulation scenario. System development is following an interactive evaluation approach and we will present both an extensible, event-based interaction architecture to realize mixed-initiative and evaluation results based on a video-study of the system. We show that users benefit from the provided dialog structure to result in predictable and successful human-robot interaction.
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