To teach robots how to perform activities, we have collected a knowledge base describing activities people do at home. Each activity contains multiple descriptions in natural language depicting different ways in whcih the activity can be performed. For each description, we provide a program, including all the atomic actions that an agent would have to do in order to perform the activity.
You can browse the activities and programs in this website. To do that, type the name of an activity in the text boxes on top of the page, or look for an activity by selecting a category on the left, followed by an activity name.
You can also download the database here:
Here is an example for making coffee: