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This paper addresses the issue of personal service robots not being widely used. Our approach is to offer a new interface paradigm to develop pervasive robotic applications. Cleaning robots are the most famous of personal service robots. However, people do not know the possibilities of what the robot can do. First, we analyze what task components are important for a cleaning robot. Next, we evaluate the efficiency of cleaning robots using the experience method. Third, we search for issues with cleaning robots, based on evaluations. We build the optimal experience of a practical cleaning robot. Finally, we propose a novel intelligent user interface based on optimal experiences and evaluate its performance.