Researchers at the Italian Institute of Technology and Tokyo City University have taught a tiny humanoid robot to clean flat surfaces. The study is helmed by IIT's Dr. Petar Kormushev, who previously taught a disarmingly adorable robot to shoot a bull's eye with a bow and arrow all by itself. As you can see, the researchers guide the Fujitsu's HOAP-2's hand, and the robot then records and recreates the necessary force and patterns to clean the board. In this situation, the team teaches the robot the motion by hand, an application that could later be refined for more complex motions and tasks like, say, the YMCA.
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