@article{atyourcommandanempiricalstudyonhow,
  title = {At your Command! An Empirical Study on How LaypersonsTeach Robots New Functions},
  author = {Sebastian Weigelt and Vanessa Steurer and Walter F. Tichy},
  year = {2020},
  eprint = {2009.06510},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2009.06510v1},
}