diff --git a/pocketsphinxAdapter/grammar/dictionary/tobiDic.dic b/pocketsphinxAdapter/grammar/dictionary/tobiDic.dic
index bbb8638d58427e95c7953ff5bd0a0ef43531c9dc..3e7aa4f387282ade989ca190f38e6c70ceb2d336 100644
--- a/pocketsphinxAdapter/grammar/dictionary/tobiDic.dic
+++ b/pocketsphinxAdapter/grammar/dictionary/tobiDic.dic
@@ -5554,7 +5554,9 @@ arlington	AA R L IH NG T AH N
 arlington's	AA R L IH NG T AH N Z
 arlt	AA R L T
 arlyne	AA R L AY N
-arm	AA R M
+arm		AA R M
+arm_chair AA R M CH EH R
+armchair	AA R M CH EH R
 arm's	AA R M Z
 armacost	AA R M AH K AO S T
 armacost's	AA R M AH K AO S T S
@@ -9714,12 +9716,15 @@ bedraggled	B IH D R AE G AH L D
 bedridden	B EH D R IH D AH N
 bedrock	B EH D R AA K
 bedroom	B EH D R UW M
+bed_room	B EH D R UW M
 bedrooms	B EH D R UW M Z
 bedrosian	B EH D R AA ZH IH N
 bedrosian(2)	B AH D R OW Z IY AH N
 beds	B EH D Z
 bedsaul	B EH D S AO L
 bedside	B EH D S AY D
+bedsidetable	B EH D S AY D T EY B AH L
+bedside_table 	B EH D S AY D T EY B AH L
 bedsole	B EH D S OW L
 bedspread	B EH D S P R EH D
 bedstraw	B EH D S T R AO
@@ -9787,7 +9792,9 @@ beeps	B IY P S
 beer	B IH R
 beer's	B IY R Z
 beer_bottle	B IH R B AO T AH L
+beerbottle	B IH R B AO T AH L
 beer_can B IH R K AE N
+beercan B IH R K AE N
 beerbower	B IH R B OW ER
 beerman	B IH R M AH N
 beers	B IH R Z
@@ -13359,6 +13366,7 @@ books'	B UH K S
 bookseller	B UH K S EH L ER
 booksellers	B UH K S EH L ER Z
 bookshelf	B UH K SH EH L F
+book_shelf	B UH K SH EH L F
 bookshelves	B UH K SH EH L V Z
 bookshop	B UH K SH AA P
 bookshops	B UH K SH AA P S
@@ -20671,6 +20679,8 @@ chickasaw	CH IH K AH S AO
 chickasaws	CH IH K AH S AO Z
 chicked	CH IH K T
 chicken	CH IH K AH N
+chicken_noodles	CH IH K AH N N UW D AH L Z
+chickennoodles	CH IH K AH N N UW D AH L Z
 chicken's	CH IH K AH N Z
 chickened	CH IH K AH N D
 chickening	CH IH K AH N IH NG
@@ -20930,6 +20940,7 @@ chock	CH AA K
 chocolat	CH AA K L AH T
 chocolate	CH AO K L AH T
 chocolate_milk	CH AO K L AH T M IH L K
+chocolatemilk	CH AO K L AH T M IH L K
 chocolates	CH AO K L AH T S
 chocolatology	CH AA K L AH T AA L AH JH IY
 chodorow	CH OW D ER OW
@@ -21846,6 +21857,8 @@ cleaner	K L IY N ER
 cleaners	K L IY N ER Z
 cleanest	K L IY N AH S T
 cleaning	K L IY N IH NG
+cleaningstuff	K L IY N IH NG S T AH F
+cleaning_stuff 	K L IY N IH NG S T AH F
 cleanliness	K L EH N L IY N IH S
 cleanly	K L IY N L IY
 cleanness	K L IY N N IH S
@@ -25606,6 +25619,7 @@ coty	K OW T IY
 cou	K UW
 couch	K AW CH
 couch_table K AW CH T EY B AH L
+couchtable K AW CH T EY B AH L
 couched	K AW CH T
 couches	K AW CH IH Z
 couching	K AW CH IH NG
@@ -27272,7 +27286,7 @@ cuomo's	K W OW M OW Z
 cuong	K W AO NG
 cuozzo	K W OW Z OW
 cup	K AH P
-cupboard	K AH B ER D
+cupboard	K AH B AO R D
 cupboards	K AH B ER D Z
 cupcake	K AH P K EY K
 cupcakes	K AH P K EY K S
@@ -32018,6 +32032,7 @@ dinmukhamed	D IH N M UW K AA M EH D
 dinneen	D IH N IY N
 dinner	D IH N ER
 dinnertable	D IH N ER T EY B AH L
+dinner_table	D IH N ER T EY B AH L
 dinners	D IH N ER Z
 dinnertime	D IH N ER T AY M
 dinnerware	D IH N ER W EH R
@@ -37663,6 +37678,7 @@ energizes	EH N ER JH AY Z IH Z
 energizing	EH N ER JH AY Z IH NG
 energy	EH N ER JH IY
 energy_drink	EH N ER JH IY D R IH NG K
+energydrink	EH N ER JH IY D R IH NG K
 energy's	EH N ER JH IY Z
 enerson	EH N ER S AH N
 enex	IY N AH K S
@@ -44591,6 +44607,8 @@ frescoes	F R EH S K OW Z
 frese	F R IY Z
 fresenius	F R AH S IY N IY AH S
 fresh	F R EH SH
+fresh_discs	F R EH SH D IH S K S
+freshdiscs 	F R EH SH D IH S K S
 freshbake	F R EH SH B EY K
 freshbake's	F R EH SH B EY K S
 freshen	F R EH SH AH N
@@ -46034,6 +46052,8 @@ garl	G AA R L
 garlan	G AA R L AH N
 garland	G AA R L AH N D
 garlic	G AA R L IH K
+garlic_sauce	G AA R L IH K S AO S
+garlicsauce		G AA R L IH K S AO S
 garlick	G AA R L IH K
 garlicky	G AA R L IH K IY
 garling	G AA R L IH NG
@@ -51606,6 +51626,8 @@ hallum	HH AE L AH M
 hallums	HH AE L AH M Z
 hallward	HH AO L W ER D
 hallway	HH AO L W EY
+hallway_table	HH AO L W EY T EY B AH L
+hallwaytable	HH AO L W EY T EY B AH L
 hallways	HH AO L W EY Z
 hallwood	HH AO L W UH D
 hally	HH AE L IY
@@ -64734,6 +64756,10 @@ kitch	K IH CH
 kitchel	K IH CH AH L
 kitchell	K IH CH AH L
 kitchen	K IH CH AH N
+kitchen_counter	K IH CH AH N K AW N T ER
+kitchencounter	K IH CH AH N K AW N T ER
+kitchen_table	K IH CH AH N T EY B AH L
+kitchentable	K IH CH AH N T EY B AH L
 kitchen's	K IH CH AH N Z
 kitchenaid	K IH CH AH N EY D
 kitchener	K IH CH AH N ER
@@ -89420,6 +89446,8 @@ peal	P IY L
 peale	P IY L
 pealer	P IY L ER
 peanut	P IY N AH T
+peanut_butter	P IY N AH T B AH T ER
+peanutbutter	P IY N AH T B AH T ER
 peanuts	P IY N AH T S
 peapack	P IY P AE K
 peapod	P IY P AO D
@@ -108124,6 +108152,7 @@ sevcik	S EH V S IH K
 seve	S EH V EY
 seven	S EH V AH N
 seven_up	S EH V AH N AH P
+sevenup	S EH V AH N AH P
 seven's	S EH V AH N Z
 sevenfold	S EH V AH N F OW L D
 sevens	S EH V AH N Z
@@ -109677,7 +109706,10 @@ siddiqui	S IY D IY K W IY
 siddle	S IH D AH L
 siddons	S IH D AH N Z
 side	S AY D
+sideboard S AY D B AO R D
+side_board S AY D B AO R D
 side_table    S AY D T EY B AH L
+sidetable    S AY D T EY B AH L
 side's	S AY D Z
 sidearm	S AY D AA R M
 sidearms	S AY D AA R M Z
@@ -120868,6 +120900,10 @@ tomatino	T AA M AH T IY N OW
 tomatino's	T AA M AH T IY N OW Z
 tomato	T AH M EY T OW
 tomato(2)	T AH M AA T OW
+tomato_sauce	T AH M EY T OW S AO S
+tomato_sauce(2)	T AH M AA T OW S AO S
+tomatosauce	T AH M EY T OW S AO S
+tomatosauce(2)	T AH M AA T OW S AO S
 tomatoe	T AH M EY T OW
 tomatoe(2)	T AH M AA T OW
 tomatoes	T AH M EY T OW Z
@@ -121859,6 +121895,8 @@ trappings	T R AE P IH NG Z
 trappist	T R AE P IH S T
 traps	T R AE P S
 trash	T R AE SH
+trash_bin	T R AE SH B IH N
+trashbin	T R AE SH B IH N
 trashed	T R AE SH T
 trashes	T R AE SH IH Z
 trashing	T R AE SH IH NG
@@ -123092,7 +123130,11 @@ tuzla	T UW Z L AH
 tuzla's	T UW Z L AH Z
 tuzzolino	T UW T S OW L IY N OW
 tv	T IY V IY
+tv_counter	T IY V IY K AW N T ER
+tvcounter 	T IY V IY K AW N T ER
 tv(2)	T EH L AH V IH ZH AH N
+tv_counter(2)	T EH L AH V IH ZH AH N K AW N T ER
+tvcounter(2)	T EH L AH V IH ZH AH N K AW N T ER
 tvedt	T V EH D T
 tveit	T V IY T
 tvsat	T AH V S AE T
@@ -123488,6 +123530,8 @@ umble	AH M B AH L
 umbra	AH M B R AH
 umbrage	AH M B R IH JH
 umbrella	AH M B R EH L AH
+umbrella_stand	AH M B R EH L AH S T AE N D
+umbrellastand	AH M B R EH L AH S T AE N D
 umbrellas	AH M B R EH L AH Z
 umbria	AH M B R IY AH
 umetsu	Y UW M EH T S UW
@@ -124991,6 +125035,7 @@ utah's	Y UW T AA Z
 utamaro	Y UW T AH M AA R OW
 utech	Y UW T EH K
 utecht	Y UW T EH K T
+utensil	Y UW T EH N S AH L
 utensils	Y UW T EH N S AH L Z
 uterine	Y UW T ER AH N
 utero	Y UW T ER OW
@@ -125905,6 +125950,8 @@ vegetate	V EH JH AH T EY T
 vegetation	V EH JH AH T EY SH AH N
 vegetative	V EH JH AH T EY T IH V
 veggie	V EH JH IY
+veggie_noodles	V EH JH IY N UW D AH L Z
+veggienoodles	V EH JH IY N UW D AH L Z
 veggies	V EH JH IY Z
 vegh	V EH G
 vegisnax	V AH G IH S N AE K S
diff --git a/pocketsphinxAdapter/grammar/gprs/gprs.jsgf b/pocketsphinxAdapter/grammar/gprs/gprs.jsgf
index 2aae394f886b5eb3a6b5f54b8c9d47f844c1128b..2ed76402cfa58a1749425078581651cef40c7f44 100644
--- a/pocketsphinxAdapter/grammar/gprs/gprs.jsgf
+++ b/pocketsphinxAdapter/grammar/gprs/gprs.jsgf
@@ -2,7 +2,7 @@
 grammar ToBI_GPRS;
 public <task> = [tobi] [(would | could) you] [please] <command> [please] [tobi];
 
-<command> = <bring_command> | <goto_command> | <follow_command> | <find_command> | <put_command> | <learn_command> | <wait>;
+<command> = <bring_command> | <goto_command> | <follow_command> | <find_command> | <put_command> | <learn_command>;
 
 <bring_command> = <bringVerb> [<person>] [<article>] <grab_object> [from | into | to] [<article>] [<location> | <person>];
 <goto_command> = <gotoVerb> <preposition> <location>;
@@ -22,21 +22,21 @@ public <task> = [tobi] [(would | could) you] [please] <command> [please] [tobi];
 <personal_pronoun> = him | her | me;
 <person_name> = james|john|robert|michael|william|david|richard|charles|linda|thomas|mary|patricia|joseph|dorothy|barbara|susan|jennifer|maria|elizabeth|margaret;
 
-<grab_object> = (<medicine_class> | <stuff_class> | <drink_class> | <snack_class> | medicine | stuff | drink | snack | object | something);
-<stuff_class> = matches | cards | flowers | sponge | bag | cube | headphone | cup | tape | microphone;
-<medicine_class> = bandaids | creme | kleenex;
-<drink_class> = coke | beer | wine | redbull | water | juice;
-<snack_class> = cookies | peanuts | chocolate | hazelnuts | noodles;
-
-<location> = <appliance_class> | <shelf_class> | <seat_class> | <table_class> | <bin_class> | <decoration_class> | <room_class> | location | room | appliance | shelf | seat | table | bin | decoration | somewhere;
-<appliance_class> = fridge | sink | tv;
-<shelf_class> = hanger | shelf;
-<seat_class> = couch | lounge | bed | armchair;
-<table_class> = desk | dinnertable | side_table | couch_table | bar;
-<bin_class> = waste;
-<decoration_class> = plant | poster;
-<room_class> = kitchen | living_room | dining_room;
+<grab_object> = (<cleaningstuff_class> | <drink_class> | <snack_class> | <food_class> | cleaningstuff | drink | snack | object | food | something);
+<cleaningstuff_class> = deodorant | toothpaste | cleaner | fresh_discs | sponge;
+<drink_class> = beer_bottle | fanta | beer_can | coke | seven_up | chocolate_milk | energy_drink | orange_juice | apple_juice | milk;
+<snack_class> = chocolate | cookies | drops | cracker;
+<food_class> = tomato_sauce | peanut_butter | chicken_noodles | marmalade | veggie_noodles | garlic_sauce; 
+
+<location> = <appliance_class> | <shelf_class> | <seat_class> | <table_class> | <room_class> | <utensil_class> | seating | utensil | location | room | appliance | shelf | seat | table | somewhere;
+
+<appliance_class> = stove | sink | fridge | tv_counter;
+<shelf_class> = bar | kitchen_counter | cupboard | dresser | side_board | book_shelf | pantry | cabinet;
+<seat_class> = <seating_class>;
+<seating_class> = bench | bed | couch | sofa | armchair;
+<table_class> = hallway_table | side_table | kitchen_table | dinner_table | couch_table | bedsidetable;
+<room_class> = kitchen | living_room | bed_room | hallway;
+<utensil_class> = hanger | umbrella_stand | trash_bin | plant;
 <preposition> = (on [top of]) | in | ([next] to) | at | near | in | into | from;
 
 <article> = the | an | a | some | this;
-<wait> = wait;
diff --git a/pocketsphinxAdapter/grammar/gprsPerson/gprsPerson.jsgf b/pocketsphinxAdapter/grammar/gprsPerson/gprsPerson.jsgf
index 5dcfcfe04e66ae345c5ac2f64c94f109c5fe6e4c..5931e6aec226d6ab965a3997c5185c51fb2335b6 100644
--- a/pocketsphinxAdapter/grammar/gprsPerson/gprsPerson.jsgf
+++ b/pocketsphinxAdapter/grammar/gprsPerson/gprsPerson.jsgf
@@ -7,5 +7,4 @@ public <statement> = <phrase> [please];
 <verb> = follow | learn | remember | memorize | find | search for | get | take | bring | go to;
 <person> = <personal_pronoun> | <person_name>;
 <personal_pronoun> = him | her | me;
-<person_name> = james|john|robert|michael|william|david|richard|charles|linda|thomas|mary|patricia|joseph|dorothy|barbara|susan|jennifer|maria|elizabeth|margaret;
-
+<person_name> = michael | christopher | matthew | joshua | daniel | david | andrew | james | justin | joseph | jessica | ashley | brittany | samantha | sarah | stephanie | jennifer | elizabeth | lauren;
diff --git a/pocketsphinxAdapter/grammar/location/location.jsgf b/pocketsphinxAdapter/grammar/location/location.jsgf
index ef485000b90dc299349d4e1466141084a1049204..5d1acb432dd907be14f297155644c56731f58129 100644
--- a/pocketsphinxAdapter/grammar/location/location.jsgf
+++ b/pocketsphinxAdapter/grammar/location/location.jsgf
@@ -6,12 +6,13 @@ public <statement> = <locationPhrase> [please];
 
 <verb> = go | search | learn | remember | memorize;
 
-<location> = (<appliance_class> | <shelf_class> | <seat_class> | <table_class> | <bin_class> | <decoration_class> | <room_class> | location | room | appliance | shelf | seat | table | bin | decoration | everywhere | somewhere | apartment);
-<appliance_class> = fridge | sink | tv;
-<shelf_class> = hanger | shelf;
-<seat_class> = couch | lounge | bed | armchair;
-<table_class> = desk | dinnertable | side_table | couch_table | bar;
-<bin_class> = waste;
-<decoration_class> = plant | poster;
-<room_class> = kitchen | living_room | hallway | bedroom;
+<location> = <appliance_class> | <shelf_class> | <seat_class> | <table_class> | <room_class> | <utensil_class> | seating | utensil | location | room | appliance | shelf | seat | table | somewhere;
+
+<appliance_class> = stove | sink | fridge | tv_counter;
+<shelf_class> = bar | kitchen_counter | cupboard | dresser | side_board | book_shelf | pantry | cabinet;
+<seat_class> = <seating_class>;
+<seating_class> = bench | bed | couch | sofa | armchair;
+<table_class> = hallway_table | side_table | kitchen_table | dinner_table | couch_table | bedsidetable;
+<room_class> = kitchen | living_room | bed_room | hallway;
+<utensil_class> = hanger | umbrella_stand | trash_bin | plant;
 <preposition> = (on [top of]) | in | ([next] to) | at | near | in | into | from;
diff --git a/pocketsphinxAdapter/grammar/object/object.jsgf b/pocketsphinxAdapter/grammar/object/object.jsgf
index d51f2f1d8104ef31c65545f497b0fa053b161736..6b1a4fb55621757c68aa4771363944f4a7186023 100644
--- a/pocketsphinxAdapter/grammar/object/object.jsgf
+++ b/pocketsphinxAdapter/grammar/object/object.jsgf
@@ -3,11 +3,11 @@ grammar ToBI_object;
 public <statement> = [<verb>] [<article>] <object> [please];
 
 <object> = <grab_object>;
-<grab_object> = (<medicine_class> | <stuff_class> | <drink_class> | <snack_class> | medicine | stuff | drink | snack | object);
-<stuff_class> = matches | cards | flowers | sponge | bag | cube | headphone | cup | tape | microphone;
-<medicine_class> = bandaids | creme | kleenex;
-<drink_class> = coke | beer | wine | redbull | water | juice;
-<snack_class> = cookies | peanuts | chocolate | hazelnuts | noodles;
+<grab_object> = (<cleaningstuff_class> | <drink_class> | <snack_class> | <food_class> | cleaningstuff | drink | snack | object | food | something);
+<cleaningstuff_class> = deodorant | toothpaste | cleaner | fresh_discs | sponge;
+<drink_class> = beer_bottle | fanta | beer_can | coke | seven_up | chocolate_milk | energy_drink | orange_juice | apple_juice | milk;
+<snack_class> = chocolate | cookies | drops | cracker;
+<food_class> = tomato_sauce | peanut_butter | chicken_noodles | marmalade | veggie_noodles | garlic_sauce; 
 
 <verb> = bring | carry | retrieve | fetch | get | give | find | search for | put | learn | remember | memorize;
 <article> = the | an | some | a | this;
diff --git a/pocketsphinxAdapter/grammar/person/person.jsgf b/pocketsphinxAdapter/grammar/person/person.jsgf
index 3824c984a301bd03d16158cc77c16f6ecfa74def..8bc9cdd7003ecba0ebf429c5020d585ca07c886e 100644
--- a/pocketsphinxAdapter/grammar/person/person.jsgf
+++ b/pocketsphinxAdapter/grammar/person/person.jsgf
@@ -2,4 +2,4 @@
 grammar ToBI_person;
 public <statement> = <naming>;
 <naming> = [(my name is) | (i am)] <name>;
-<name> = james | john | robert | william | david | richard | michael | charles | joseph | thomas | mary | patricia | linda | barbara | elizabeth | jennifer | maria | susan | margaret | dorothy;
+<name> = michael | christopher | matthew | joshua | daniel | david | andrew | james | justin | joseph | jessica | ashley | brittany | samantha | sarah | stephanie | jennifer | elizabeth | lauren;
diff --git a/pocketsphinxAdapter/grammar/room/room.jsgf b/pocketsphinxAdapter/grammar/room/room.jsgf
index 2b32ad47fca147541a104972106c0b55cc08f2f3..b3483f90dc290abd64b01164e531aada7c005db3 100644
--- a/pocketsphinxAdapter/grammar/room/room.jsgf
+++ b/pocketsphinxAdapter/grammar/room/room.jsgf
@@ -2,4 +2,4 @@
 grammar ToBI_room;
 public <statement> = <rooms>;
 
-<rooms> = [the] (living_room | dining_room | kitchen);
+<rooms> = [the] (living_room | bed_room | hallway | kitchen);