We introduce CST, an algorithm for constructing skill trees from demonstration trajectories in continuous reinforcement learning domains. CST uses a change- point detection method to segment each trajectory into a skill chain by detecting a change of appropriate abstraction, or that a segment is too complex to model as a single skill. The skill chains from each trajectory are then merged to form a skill tree. We demonstrate that CST constructs an appropriate skill tree that can be further refined through learning in a challenging continuous domain, and that it can be used to segment demonstration trajectories on a mobile manipulator into chains of skills where each skill is assigned an appropriate abstraction.
Konidaris, G., Kuindersma, S., Barto, A., & Grupen, R. (2010). Constructing Skill Trees for Reinforcement Learning Agents from Demonstration Trajectories. In Advances in Neural Information Processing Systems 23 (pp. 1162–1170). https://doi.org/10.1002/mds.25567