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Allowing humans to teach robot behaviors will facilitate acceptability as well as long-term interactions. Humans would mainly use speech to transfer knowledge or to teach highlevel behaviors. In this paper, we propose a proof-of-concept application allowing a Pepper robot to learn behaviors from their natural-language-based description, provided by naive human users. In our model, natural language input is provided by grammar-free speech recognition, and is then processed to produce semantic knowledge, grounded in language and primitive behaviors. The same semantic knowledge is used to represent any kind of perceived input as well as actions the robot can perform. The experiment shows that the system can work independently from the domain of application, but also that it has limitations. Progress in semantic extraction, behavior planning and interaction scenario could stretch these limits.