We describe an incremental learning algorithm, called theory-driven le
arning, that creates rules to predict the effect of actions. Theory-dr
iven learning exploits knowledge of regularities among rules to constr
ain learning. We demonstrate that this knowledge enables the learning
system to rapidly converge on accurate predictive rules and to tolerat
e more complex training data. An algorithm for incrementally learning
these regularities is described and we provide evidence that the resul
ting regularities are sufficiently generally to facilitate learning in
new domains. The results demonstrate that transfer from one domain to
another can be achieved by deliberately overgeneralizing rules in one
domain and biasing the learning algorithm to create new rules that sp
ecialize these overgeneralizations in other domains.