A ubiquitous computing environment will become a solid social infrastructure for recording human experiences in the real world and facilitating human activities. The captured activity can be used as a good source of novel communication in the infrastructure. This paper focuses on the non-cumbersome recording, ing, and summarizing of experiences as well as sharing these experiences among people. Several devices are developed, such as a ubiquitous and wearable interaction system for recording and a humanoid-robot artificial partner. These are called ubiquitous experience media (UEM) that capture, display and facilitate experiences. The recorded experiences are stored in an interaction corpus after indexing and segmentation. The functions of UEM and the structure of the interaction corpus are described along with several experience sharing application scenarios.