A Similarity-Based Approach to Skill Transfer

We address the problem of transferring skills learned from interactive demonstrations. Learning from Demonstration is an effective method for quickly learning to complete a task; however, task demonstrations are often provided within a particular environment, and thus cannot be immediately repeated in unfamiliar environments that differ in object configurations and features. We describe our ongoing work in implementing a transfer processes which represents task demonstrations according to the level of similarity between the original environment and the new, unfamiliar environment.