We are developing new probabilistic methods that allow a humanoid robot to follow gaze, infer intent, and learn new actions and skills from a human teacher in much the same way that human infants and adults learn from observing others. Such an approach opens the door to a potentially powerful way to program general-purpose humanoid robots -- through human demonstration and interaction -- obviating the need for complex physics-based models and explicit programming of behaviors. This project is a collaboration between Raj Rao and developmental scientist Andrew Meltzoff at the Institute for Learning and Brain Sciences.