This paper introduces a novel approach to ontology-based robot plan transfer
using functorial data migrations from category theory. Functors provide
structured maps between domain types and predicates which can be used to
transfer plans from a source domain to a target domain without the need for
replanning. Unlike methods that create models for transferring specific plans,
our approach can be applied to any plan within a given domain. We demonstrate
this approach by transferring a task plan from the canonical Blocksworld domain
to one compatible with the AI2-THOR Kitchen environment. In addition, we
discuss practical applications that may enhance the adaptability of robotic
task planning in general.

本文介绍了一种新颖的本体论基于机器人计划转移的方法，使用范畴论中的函子数据迁移。函子提供了领域类型和谓词之间的结构映射，可以将计划从源领域传递到目标领域，而无需重新规划。与创建转移特定计划模型的方法不同，我们的方法可以应用于给定领域内的任何计划。我们通过将任务计划从规范的 Blocksworld 领域转移到与 AI2-THOR Kitchen 环境兼容的领域来演示这一方法。此外，我们讨论了可能增强机器人任务规划适应性的实际应用。