Computer-implemented method for learning operators for planning a behavior of an autonomous device, wherein the autonomous device is an assistive household robot acting in a kitchen environment or a robot in a workshop or factory environment, the method comprising: obtaining a set of training data D including observations on a plurality of skills executable by the autonomous device in an interaction with at least one entity for addressing a first task; obtaining a set of predetermined data defining a hierarchy of entities including the at least one entity; learning a set of individual skills based on the obtained set of training data; generating an enhanced set of skills by generalizing the individual skills of the learned set of individual skills based on the predetermined set of data that defines the hierarchy of entities and adding the generalized individual skills to the set of individual skills; performing behavior planning of the autonomous device for addressing a second task different from the first task based on the enhanced set of skills; generating a control signal for controlling at least one actuator of the autonomous device to perform the second task based on the determined behavior; outputting the generated control signal to the at least one actuator; and characterized in that the method comprises repetitively performing the step of generating the enhanced set of skills by generalizing the individual skills of the learned set of individual skills based on the predetermined set of data until a convergence criterion is met, wherein determining that the convergence criterion is met when, in the step of generalizing the individual skills of the learned set of individual skills, no new generalized skill can be found. obtaining a set of training data D including observations on a plurality of skills executable by the autonomous device in an interaction with at least one entity for addressing a first task; obtaining a set of predetermined data defining a hierarchy of entities including the at least one entity; learning a set of individual skills based on the obtained set of training data; generating an enhanced set of skills by generalizing the individual skills of the learned set of individual skills based on the predetermined set of data that defines the hierarchy of entities and adding the generalized individual skills to the set of individual skills; performing behavior planning of the autonomous device for addressing a second task different from the first task based on the enhanced set of skills; generating a control signal for controlling at least one actuator of the autonomous device to perform the second task based on the determined behavior; outputting the generated control signal to the at least one actuator; and characterized in that the method comprises repetitively performing the step of generating the enhanced set of skills by generalizing the individual skills of the learned set of individual skills based on the predetermined set of data until a convergence criterion is met, wherein determining that the convergence criterion is met when, in the step of generalizing the individual skills of the learned set of individual skills, no new generalized skill can be found.