Service robot system comprising a robot, the robot having a drive system for moving the robot to target positions and at least one effector for manipulating the robot's environment, wherein the system comprises a processing unit including a task determination unit for determining a task to be executed by the robot and configured to control the drive system and the at least one effector according to the task based on action definitions, wherein the processing unit is configured to automatically retrieve action definition candidates based on objects that are identified in the environment of the robot, evaluate the retrieved action definition candidates and to execute an action based on the evaluation, characterized in that the processing unit is configured to segment the task into a sequence of actions, to automatically retrieve, for each action, action definition candidates from a database, to evaluate the retrieved action definition candidates with respect to a success score indicating a likelihood that an action according to the action definition candidate contributes to successfully fulfilling the task, to execute an action according to the action definition candidate having the highest probability equal to or above a predefined threshold, and to send a request for assistance via a communication interface if the success score is less than a present threshold, wherein the system comprises an operator interface (18, 19, 20) for remotely controlling the robot to execute an action and input information and is configured to evaluate the remotely controlled action regarding its potential advantage for future tasks, to store the action as a new action definition in the database in case it is judged that there is a likelihood that the action may be successfully applied in the future, and to add input information on the objects to the database based on the received input. the robot having a drive system for moving the robot to target positions and at least one effector for manipulating the robot's environment, wherein the system comprises a processing unit including a task determination unit for determining a task to be executed by the robot and configured to control the drive system and the at least one effector according to the task based on action definitions, wherein the processing unit is configured to automatically retrieve action definition candidates based on objects that are identified in the environment of the robot, evaluate the retrieved action definition candidates and to execute an action based on the evaluation, characterized in that the processing unit is configured to segment the task into a sequence of actions, to automatically retrieve, for each action, action definition candidates from a database, to evaluate the retrieved action definition candidates with respect to a success score indicating a likelihood that an action according to the action definition candidate contributes to successfully fulfilling the task, to execute an action according to the action definition candidate having the highest probability equal to or above a predefined threshold, and to send a request for assistance via a communication interface if the success score is less than a present threshold, wherein the system comprises an operator interface (18, 19, 20) for remotely controlling the robot to execute an action and input information and is configured to evaluate the remotely controlled action regarding its potential advantage for future tasks, to store the action as a new action definition in the database in case it is judged that there is a likelihood that the action may be successfully applied in the future, and to add input information on the objects to the database based on the received input.