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In the reinforcement learning literature, transfer is the capability to reuse on a new problem what has been learnt from previous experiences on similar problems. Adapting transfer properties for robotics is a useful challenge because it can reduce the time spent in the first exploration phase on a new problem. In this paper we present a transfer framework adapted to the case of a climbing Virtual Human (VH). We show that our VH learns faster to climb a wall after having learnt on a different previous wall.doi:10.1109/robot.2009.5152553 dblp:conf/icra/LibeauMS09 fatcat:d6wevn3sa5fy7g3fqsccm5bd2u