Behavior analysis using trajectory data presents a practical and interesting challenge for KDD. Conventional analyses address discriminative tasks of behaviors, e.g., classification and clustering typically using the subsequences extracted from the trajectory of an object as a numerical feature representation. In this paper, we explore further to identify the difference in the high-level semantics of behaviors such as roles and address the task in a cross-domain learning approach. The trajectory, from which the features are sampled, is intuitively viewed as a domain, and we assume that its intrinsic structure is characterized by the underlying role associated with the tracked object. We propose a novel hybrid method of spectral clustering and density approximation for comparing clustering structures of two independently sampled trajectory data and identifying patterns of behaviors unique to a role. We present empirical evaluations of the proposed method in two practical settings using real-world robotic trajectories.