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.