This team is working on easier ways to program behavior in humanoid robots, and potentially in other machines and computer systems, based on how we "program" behavior in our fellow human beings. Their current robot is DB, a hydraulic anthropomorphic robot with legs, arms (with palms but no fingers), a jointed torso, and a head. It has 30 degrees of freedom: three in the neck, two in each eye, seven in each arm, three in each leg, and three in the trunk. The robot is currently mounted at the pelvis so the researchers can focus on upper-body movement and avoid dealing with balance. The work described here discusses trajectory formation and planning, learning from demonstration, oculomotor control, and interactive behaviors. The team has already demonstrated paddling a single ball on a racket, learning a folk dance by observing a human perform it, drumming synchronized to sounds the robot hears (karaoke drumming), juggling three balls, performing a T'ai Chi exercise in contact with a human, and various oculomotor behaviors.