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Humans who explain a task to a robot, or to another human, use chunks of actions that are often complex procedures for robots. An instructable robot needs to be able to map such chunks to existing pre-programmed primitives. We investigate the nature of these chunks in an urban visual navigation context and describe the implementation of one of the primitives: "take the n th turn right/left". This implementation requires the use of a "short-lived" internal map updated as the robot moves along.doi:10.1016/j.robot.2004.08.011 fatcat:lsw3qlddwjgcbdtroi3ulhw6aq