Various service robots based on human-robot interaction (HRI) have been developed in several industrial fields as a result of recent advancements in robot technologies. HRI-based service robots can determine and provide the necessary services to people who cannot move around easily in individual houses (e.g., senior citizens and the physically challenged). However, learning to interact with human beings naturally can be a time-consuming process for a robot. This paper proposes a simulation system that enables a virtual robot to learn to interact with a virtual human within a short duration.