Before revision:  To avoid an extensive robot-specific training process, methods to transfer this assistance knowledge between different robot hands are discussed. Experiments were conducted to telemanipulate a cup for three principal tasks: usage, move, and handover by remotely controlling a 3-finger gripper and 2-finger gripper . Results demonstrated that the proposed model effectively learned the knowledge of preferred assistance, and knowledge transfer between robots allows this semi-autonomous telemanipulation strategy to be scaled up with less training efforts .
After revision:  To avoid an extensive robot-specific training process, methods to transfer the preference knowledge across different robot hand structures to avoid extensive robot-specific training. Experiments to telemanipulate a cup for three principal tasks: usage, move, and handover by remotely controlling a 3-finger gripper and 2-finger gripper . Results demonstrated that the proposed model effectively learned the knowledge of preferred assistance, and knowledge transfer between robots allows this semi-autonomous telemanipulation strategy to be scaled up with less training efforts .