Learning　skills　autonomously　is　a　particularly　important　ability　for　an　autonomous　robot.　A　promising　approach　is　reinforcement　learning　(RL)　where　agents　learn　policy　through　interaction　with　its　environment.　One　problem　of　RL　algorithm　is　how　to　tradeoff　the　exploration　and　exploitation.　Moreover,　multiple　tasks　also　make　a　great　challenge　to　robot　learning.　In　this　paper,　to　enhance　the　performance　of　RL,　a　novel　learning　framework　integrating　RL　with　knowledge　transfer　is　proposed.　Three　basic　components　are　included:　1)　probability　policy　reuse;　2)　dynamic　model　learning;　and　3)　model-based　Q-learning.　In　this　framework,　the　prelearned　skills　are　leveraged　for　policy　reuse　and　dynamic　learning.　In　model-based　Q-learning,　the　Gaussian　process　regression　is　used　to　approximate　the　Q-value　function　so　as　to　suit　for　robot　control.　The　prior　knowledge　retrieved　from　knowledge　transfer　is　integrated　into　the　model-based　Q-learning　to　reduce　the　needed　learning　time.　Finally,　a　human-robot　handover　experiment　is　performed　to　evaluate　the　learning　performance　of　this　learning　framework.　Experiment　results　show　that　fewer　exploration　is　needed　to　obtain　a　high　expected　reward,　due　to　the　prior　knowledge　obtained　from　knowledge　transfer.　©　2016　IEEE.