  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.
