diff --git a/pocketsphinxAdapter/grammar/gprs/gprs.jsgf b/pocketsphinxAdapter/grammar/gprs/gprs.jsgf
index 74ebe1995bb4a2fbc99949fd6e00368eeec03c1a..ed616e4b65ec2e6031f7bf7450bfddf7bbe140e5 100644
--- a/pocketsphinxAdapter/grammar/gprs/gprs.jsgf
+++ b/pocketsphinxAdapter/grammar/gprs/gprs.jsgf
@@ -4,7 +4,7 @@ public <task> = [tobi] [(would | could) you] [please] <command> [please] [tobi];
 
 <command> = <bring_command> | <goto_command> | <follow_command> | <find_command> | <pointat_command> | <learn_command> | <cleanup_command> | <show_command>;
 
-<bring_command> = (<bringVerb> [<person>] [<article>] <grab_object> [<preposition> [<article>] [<location> | <person>]] [(to|into) [<article>] <second_location>]) | (<bringVerb> [<article>] <person> <preposition> <article> <location>);
+<bring_command> = (<bringVerb> [<person>] [<article>] <grab_object> [<preposition> [<article>] <location>] [(to|into) [<article>] <second_location>]) | (<bringVerb> [<article>] <person> <preposition> <article> <location>);
 <goto_command> = <gotoVerb> [<further_preposition> | <preposition>] [<article>] <location>;
 <follow_command> = <followVerb> <person>;
 <find_command> = <findVerb> [<article>] (<grab_object> | <person>) [in [<article>] <location>];
@@ -14,10 +14,10 @@ public <task> = [tobi] [(would | could) you] [please] <command> [please] [tobi];
 <show_command> = <showVerb> [<person>] (([<article>] <grab_object>) | ([the (path|way) to] [<article>] <location>)); 
 
 <bringVerb> = bring | carry | retrieve | fetch | get | give | put | attend | deliver | convey | gather | (pick up) | take | lead | grasp;
-<findVerb> = find | (search [for]) | (check [for]) | acquire | attain | obtain | (look for);
+<findVerb> = detect | find | (search [for]) | (check [for]) | acquire | attain | obtain | (look for);
 <pointatVerb> = (point at) | denote | direct | indicate | suggest;
 <showVerb> = show | demonstrate | present;
-<gotoVerb> = go | approach | move | run | travel | ride;
+<gotoVerb> = navigate | go | approach | move | run | travel | ride;
 <followVerb> = follow | chase | (come after);
 <learnVerb> = learn | remember | memorize | determine | gain | study | train;
 <cleanupVerb> = (clean up) | (tidy up) | clear | (do up) | (straighten up);
@@ -32,14 +32,14 @@ public <task> = [tobi] [(would | could) you] [please] <command> [please] [tobi];
 <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> | <door_class> | door | seating | utensil | location | room | appliance | shelf | seat | table | somewhere | everywhere | apartment | furniture;
+<location> = <appliance_class> | <shelf_class> | <seat_class> | <table_class> | <room_class> | <utensil_class> | <door_class> | door | seating | utensil | location | room | appliance | shelf | seat | table | somewhere | apartment | furniture;
 
-<second_location> = <appliance_class> | <shelf_class> | <seat_class> | <table_class> | <room_class> | <utensil_class> | <door_class> | door | seating | utensil | location | room | appliance | shelf | seat | table | somewhere | everywhere | apartment;
+<second_location> = <appliance_class> | <shelf_class> | <seat_class> | <table_class> | <room_class> | <utensil_class> | <door_class> | door | seating | utensil | location | room | appliance | shelf | seat | table | somewhere | apartment;
 
 <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;
+<seating_class> = bench | bed | sofa | armchair;
 <table_class> = hallway_table | side_table | kitchen_table | dinner_table | couch_table | bedsidetable;
 <door_class> = exit | entry;
 <room_class> = kitchen | living_room | bed_room | hallway;
diff --git a/pocketsphinxAdapter/grammar/location/location.jsgf b/pocketsphinxAdapter/grammar/location/location.jsgf
index 239b339f2345e5795eab4b6a46411dbfca5fc6be..908faa8525dfb3d0948274274bb144ef0f03b31f 100644
--- a/pocketsphinxAdapter/grammar/location/location.jsgf
+++ b/pocketsphinxAdapter/grammar/location/location.jsgf
@@ -11,7 +11,7 @@ public <statement> = <locationPhrase> [please];
 <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;
+<seating_class> = bench | bed | 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;