Step1
Take aibo to location that you would like to be welcomed home at. Tell aibo, "welcome home here," several times. Repetition will increase learning. When you see aibo start sniffing the floor, it is a signal aibo is remembering the location.
Step2
Once you see aibo wave make sure to continue to praise aibo by petting and continue to say, "welcome home here". Using the My aibo app, check your map and see if the door icon is displayed in that location. Once it is shown, it is successful. To confirm the location, please say, "go home" to aibo. If aibo goes to that location and waits, training has been successful.
Step3
When you leave home, say, see you later, then pet aibo. When you return home, say, I'm home, then pet aibo. aibo will eventually remember this location/time so when you arrival time is getting close, aibo will go to the welcome home place and be ready for your arrival!