Thora picked up high five all on her own somehow,
http://img.photobucket.com/albums/v675/Horribell/Thora/thorahigh5.jpg
Does Achilles know "shake"? That picture was taken right after I taught her "shake." She just sorta picked it up on her own and does it automatically when your hand is higher than the "shake" position. We never actually assigned it a command but regardless, every time you give her the "shake" command she evaluates where your hand is and tries to meet it with her paw. Smart little cookie.
For "shake"- I literally picked her paw up with the hand gesture I wanted to use for the command (hand out, palm open). I treated her each time I picked her paw up while saying "shake" and after a few times I would give her a chance to respond on her own with the hand signal. She picked it up in 5 minutes flat.