arXiv:2606. 07999v1 Announce Type: new Abstract: Effective skill grounding is essential for deploying reusable skills in embodied agents, as even minor embodiment or environmental differences can render an entire skill incompatible.
arXiv:2601. 20334v2 Announce Type: replace-cross Abstract: Robotic manipulation has increasingly adopted vision-language-action (VLA) models, which achieve strong performance but typically require task-specific demonstrations and fine-tuning, and often generalize poorly under domain shift.
arXiv:2603. 22435v2 Announce Type: replace-cross Abstract: "Code-as-Policy" considers how executable code can complement data-intensive Vision-Language-Action (VLA) methods, yet their effectiveness as autonomous controllers for embodied manipulation remains underexplored.
arXiv:2608. 14944v1 Announce Type: cross Abstract: Natural-language interfaces can lower the barrier to programming robots, but existing systems struggle when users request complex tasks.
The paper introduces SHAPER, a self‑evolving framework that enables embodied agents to adapt to new environments without retraining the underlying foundation model. SHAPER keeps model parameters frozen and instead evolves reusable skills and a context‑code harness through rollouts in the target environment, allowing the same model to act as both planner and optimizer. Experiments on VLABench and ESI‑Bench demonstrate that this skill‑and‑harness optimization outperforms pure execution, supervised fine‑tuning, and test‑time scaling baselines, showing that self‑evolving adaptation is viable when model training is costly or impractical.
arXiv:2608. 06756v1 Announce Type: new Abstract: Vision-language models are increasingly serving as the reasoning core of embodied agents.
EmbodiedSkills is a unified framework that treats each skill decision as an execution proposal, checking prerequisites and verifying outcomes during long‑horizon vision‑language‑action tasks. It connects high‑level skill selection, bounded low‑level VLA execution, and post‑action verification through a fixed executable‑skill interface, enabling easy replacement of low‑level policies and recording of structured trajectories for supervision and adaptation. Instantiated with Qwen3‑VL and OpenPI/pi0.5 on RoboTwin 2.0 and LIBERO, the framework achieves high success rates (86.20% and 97.40% respectively) and demonstrates effective memory‑dependent task performance.
The paper introduces CodeHack, a library of code-based skills with natural-language descriptions designed to improve language agents in complex environments like NetHack. By allowing agents to invoke reusable skills instead of selecting individual actions, the study shows that skill-based agents nearly triple game progression and cut inference cost by 86% in zero‑shot settings, while still retaining the option to fall back on primitive actions. In reinforcement learning, skill-based agents learn faster, achieving a 7.2× larger average gain in dungeon level within the same training budget.
arXiv:2608. 14047v1 Announce Type: cross Abstract: This paper integrates end-to-end Visual-Language-Action (VLA) models with agentic tool-use to propose Agentic Robot with Tool-use (ART).
Teach-and-Grow Learning (TGL) is an agent-centered architecture that transforms a few successful demonstrations into reusable Skill Blocks, enabling a robot to compose, execute, and revise behaviors in new scenes without task-specific policy retraining. The system maintains a Skill Library and structured Experience Memory to capture successes, failures, and repairs, allowing persistent reuse and agent-directed adaptation. Evaluation on the LIBERO benchmark shows state-of-the-art performance, and the authors propose a scaling-law hypothesis suggesting that accumulated reusable experience reduces future-task error and teaching demand following a power-law trend.
CEDAR is a counterexample-guided framework that translates natural-language instructions for embodied agents into regular languages over environment event traces, represented as deterministic finite automata. By using a language model for semantic judgments and execution traces for correction, CEDAR turns constraints into executable finite-state objects, enabling the intersection of learned skills with additional specifications. In Minecraft experiments, CEDAR preserves temporal and spatial constraints better than a program-generating baseline and reduces cumulative LLM queries by reusing learned skills.
arXiv:2609.10522v1 Announce Type: cross Abstract: Foundation vision-language models (VLMs) exhibit broad intelligence about the world, yet translating this intelligence into robot control remains cha...
arXiv:2606.18363v3 Announce Type: replace-cross Abstract: Language models trained on large-scale vision-language data have demonstrated strong potential for embodied agents. Harnessing models through...