Abstract: On the basis of that a robot is provided with basic movement skill¹, in this paper, the tutorial instruction based learning method is used for teaching the robot to perform abstracted tasks by means of natural language instruction. The knowledge acquired from the instructions is stored in a form of program framework, which can be executed to control the action of robot to perform the taught task. In other words, the robot can generate procedure stream through natural language dialogue. The feasibility and effectivity of the proposed method is validated by the navigation task learning of the mobile robot.