National audienceSeveral socially assistive robot (SAR) systems have been proposed and designed to engage people into various interactive exercises such as physical training [1], neuropsychological rehabilitation [2] or cognitive assistance [3]. While the interactive behavioral policies of most systems are scripted, we discuss here key features of a new methodology we developed in the framework of the SOMBRERO project 1 that enables professional caregivers to demonstrate a SAR how to perform the assistive tasks while giving proper instructions, demonstrations and feedbacks