Skill Demonstration Transfer for Learning from Demonstration

Learning from Demonstration is an effective method for interactively  teaching  skills  to  a  robot  learner.   However,  a skill  learned  via  demonstrations  is  often  learned  within  a particular environment and uses a specific set of objects, and thus may not be immediately applicable for use in unfamiliar environments.  Transfer learning addresses this problem by  enabling  a  robot  to  apply  learned  skills  to  unfamiliar environments.  We describe our ongoing work to develop a system which enables transfer learning by representing skill demonstrations according to the level of similarity between the source and target environments.