Uni-Skill: Building Self-Evolving Skill Repository for Generalizable Robotic Manipulation
While skill-centric approaches leverage foundation models to enhance generalization in compositional tasks, they often rely on fixed skill libraries, limiting adaptability to new tasks without manual intervention. To address this, we propose Uni-Skill, a Unified Skill-centric framework that supports skill-aware planning and facilitates automatic skill evolution. Unlike prior methods that restrict planning to predefined skills, Uni-Skill requests for new skill implementations when existing ones are insufficient, ensuring adaptable planning with self-augmented skill library. To support automatic implementation of diverse skills requested by the planning module, we construct SkillFolder, a V...
| Authors | Senwei Xie, Yuntian Zhang, Ruiping Wang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 3 March 2026 |
| Last updated at source | 3 March 2026 |
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