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Humans explaining a task to a robot 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 an architecture used in spoken dialogue systems that is able to extract executable robot procedures from user instructions. A suitable representation of route instructions is introduced, then a Procedure Specification Language (PSL) is described that allows to extract from the semantic representation of the dialogue both the robot executable procedures and their parameters.