This chapter presents some real-life examples using the interactive multimodal framework; in this work, the robot is capable of learning through human assistance. The basic idea is to use the human feedback to improve the learning behavior of the robot when it deals with human beings.We show two different prototypes that have been developed for the following topics: interactive motion learning for robot companion; and on-line face learning using robot vision. On the one hand, the objective of the first prototype is to learn how a robot has to approach to a pedestrian who is going to a destination, minimizing the disturbances to the expected person's path. On the other hand, the objectives of the second prototype are twofold, first, the robot invites a person to approach the robot to initiate a dialogue, and second, the robot learns the face of the person that is invited for a dialogue. The two prototypes have been tested in real-life conditions and the results are very promising.