Agent Skill Learning

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24 papers in the last four weeks, up 200% on the four weeks before. 0.2% of all new papers.

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Latest papers 123

Sep 14, 2026cs.AI

AlgoEvo: Self-Evolving Agentic Search for Automated Algorithm Discovery

Large language models have advanced automated algorithm discovery by synthesizing executable code, but existing frameworks trap them in rigid search pipelines with pre-defined control flows. This limitation restricts adaptive reasoning, blocks cross-paradigm transfer, and overlooks richer execution feedback. To bridge this gap, we introduce an end-to-end framework, AlgoEvo, a unified agentic architecture that transforms automated algorithm discovery into an interactive, knowledge-accumulating process. An autonomous agent dynamically inspects, diagnoses, and edits code based on runtime feedback. A design skill hub decouples paradigm-specific knowledge from the core discovery engine, allowing a unified workflow to seamlessly handle single-heuristic, multi-objective, and multi-component design. Meanwhile, a hierarchical experience bank organizes search trajectories into a task-level tree to guide exploration and consolidates cross-task patterns into reusable skills. Across six representative benchmark tasks, AlgoEvo reaches state-of-the-art performance with as little as 7% of the evaluation budget and reduced token consumption, demonstrating strong intra-task accumulation, cross-task transfer, and the ability to reproduce or exceed the strongest existing methods through flexible skill activation.

Junhao Qiu, Qinglong Hu, Ji Cheng +3

Department of Computer Science, City University of Hong Kong · Huawei Noah’s Ark Lab · Institute of Advanced Intelligence and Computing, A*STAR

Automated Algorithm Discovery Automated Heuristic Design LLM-Based Program Synthesis Agent Skill Learning Self-Evolving Agents

Sep 8, 2026cs.CL

Experience Funnel: A State-Policy Alternating Loop for Self-Evolving Agents

Autonomous agents powered by large language models (LLMs) continuously accumulate experience through interaction, creating an opportunity to improve future behavior through self-evolution. A fundamental challenge is how to transform abundant, task-specific interaction experience into reusable model competence without sacrificing the ability to adapt rapidly to newly observed evidence. Explicit textual states, such as skills and agent harnesses, provide fast, human-readable and editable adaptation, but incur persistent dependence on external context; parametric policies provide compact and reusable competence, but are substantially slower to update. We present \textit{Experience Funnel}, a self-evolving framework that couples fast state adaptation with slow policy consolidation in an alternating loop. Interaction trajectories are first distilled into an explicit textual state, where newly acquired experience can be rapidly incorporated and validated. The framework then selectively identifies state-enabled behavior that remains useful across state revisions and consolidates it into the policy through transition-aware distillation. The updated state--policy pair subsequently generates new rollouts, providing fresh evidence for the next round of state adaptation and policy consolidation. Experiments across diverse agent benchmarks show that \textit{Experience Funnel} consistently improves agent capability over state-only evolution and policy-internalization approaches, while progressively converting useful explicit experience into autonomous policy competence.

Wenbo Gao, Zhaomou Song, Zhiyuan Ji +7

1The Hong Kong Polytechnic University · 2Huawei · 3Renmin University of China

Continual Learning for LLM Agents Agent Skill Learning Policy Distillation Self-Evolving Agents

Sep 3, 2026cs.RO

Continual Field-Adaptive Models (CFAMs) for Post-Deployment Physical AI

Unattended interactive autonomy - machines that step into danger in place of humans and complete tasks with human tools - remains a missing capability in mission-critical operations. These domains offer scarce training data and only onboard compute, yet deployed systems must face novelty without erasing prior competence. We introduce Continual Field-Adaptive Models (CFAMs), which learn efficiently in the lab and continue learning after deployment through autonomous, gradient-free, on-device updates. CFAM uses a complementary learning architecture with a frozen slow-learning component and a fast-learning Capsule Field. The slow component contains three cortices: Sensor, which maps multimodal input into 3D-grounded geometry; Reasoning, which decomposes tasks into skills and evaluates outcomes; and Action, which executes geometric skills. The Capsule Field stores field learning one-shot and gradient-free as Competence Capsules. Skill installation is few-shot in the lab and continual in the field; open-world novelty is outside scope. We evaluate CFAM across five embodiments: manipulator, quadruped, humanoid, quadrotor, and off-road vehicle. Baselines (pi0, CogACT, SpatialVLA) use the same in-house multi-embodiment dataset for physical-platform comparisons. CFAM reaches the operating point of a standard policy trained on the full prior-training dataset using 40% of the data, or 2.5x fewer trajectories. At test time, autonomous capture of verified near-OOD cases improves action success by 13.9 percentage points. In sequential simulation, backward transfer is -0.5 percentage points versus -11.4 for LoRA. CFAM therefore provides a bounded form of post-deployment physical intelligence: few-shot skill learning, autonomous field growth from verified near-OOD experience, and retention of prior competence.

Amarjot Singh, Tanmay R. Pancholi, Jainam Kothari +7

Skylark Labs · Carnegie Mellon University · University of California, Berkeley

Continual Robot Learning Cross-Embodiment Robot Learning Agent Skill Learning Memory-Augmented Agents

Sep 2, 2026cs.AI

Repo-To-Skill: Distilling GitHub Repositories Into AI4AI Skills

Autonomous agents are beginning to carry out machine-learning (ML) research end to end. These agents combine a model backbone with a harness for planning, execution, memory, and verification, but this architecture still leaves domain-specific know-how outside the agent. We call this missing layer operational knowledge, the know-how that separates knowing a method from making it work. That knowledge is not absent from the field. It appears in repositories and papers, but in forms written for human readers and too large to load during a task. Once distilled into compact, verified skills, this knowledge can be reused across tasks rather than rediscovered during each run. We present DisCo, a skill-powered research agent that creates skills and uses them during research. Its distillation runs in two complementary forms: task-agnostic, condensing the field's widely used repositories into reusable skills, and task-oriented, producing the skills a concrete task calls for. The former, applied across the open ecosystem, yields the AREX-Skill Library, with 5,000+ verified skills distilled from 1,000 widely used ML repositories and organized into 20 areas and 178 capability families. With the GPT-5.5 backbone, research harness, and downstream execution budget held fixed, the skill-equipped research agent scores 134.3% higher on MLE-bench, 34.4% higher on PaperBench, 9.2% higher on FrontierCS, and 14.0% higher on PassNet than the same agent without skills. These gains come from adding distilled operating context under that fixed setup.

Jianlyu Chen, Yuyang Hu, Hongjin Qian +8

Beijing Academy of Artificial Intelligence · University of Science and Technology of China · Renmin University of China +1

Agent Skill Learning Autonomous Research Agents

Sep 1, 2026cs.LG

REFACTOR-VLA: Unsupervised Library Learning of Typed Motor Programs

Most vision-language-action (VLA) models -- OpenVLA,

π_0

, RT-2, RDT-1B -- are monolithic: they emit raw motor commands or short action chunks without organizing behavior into reusable abstractions, so they degrade on long-horizon tasks and resist interpretation. Existing skill-discovery methods sidestep the core question of when two action sequences are behaviorally equivalent, either clustering contrastive embeddings or delegating the judgment to a language model uncalibrated to the robot's dynamics. We introduce REFACTOR-VLA, a wake/sleep system for learning reusable skills. Its sleep phase clusters motor-program fragments under a Behavioral-Equivalence Kernel (BEK) computed from rollouts of a learned latent world model

M_φ

; its wake phase emits typed lambda terms over a Hindley--Milner-inspired vocabulary, consumed by a library-conditioned rectified-flow action decoder. Abstractions are admitted only if they pass Minimum Description Length and return-preservation gates. On LIBERO we report two findings. First, enlarging the world model from 188M to 430M parameters worsened performance on 4 of 4 suites, so capacity alone does not help. Second, the training objective matters far more: adding an auxiliary supervised contrastive (InfoNCE) loss during world-model warmup substantially improves sleep-phase clustering, giving Normalized Mutual Information at

n=3

seeds of

0.462 \pm 0.021

(object),

0.867 \pm 0.025

(spatial),

0.915 \pm 0.013

(goal) and

0.754 \pm 0.010

(LIBERO-10), and beating the strongest published baseline on all 4 suites by a mean

Δ= +0.184

. Across providers (

n=12

) the 95% bootstrap confidence interval for mean pairwise NMI is

[0.683, 0.729]

(mean

0.705

). The sleep phase also yields the first real-LIBERO task-language library: the decoder uses 2 of 3 admitted abstractions and rewrites all 256 sampled demonstrations.

Riyaaz Shaik, Chandru Venkataraman

Apple

Robot Skill Learning Program Synthesis Vision-Language-Action Models Agent Skill Learning Latent World Models Robot Learning

Aug 31, 2026cs.AI

EvoSkill Injection: Red-Teaming Autonomous Skill Generation and Evolution in Self-Evolving Agents

LLM-based agent systems increasingly adopt skill-based architectures to reduce repetitive reasoning costs and improve stable, efficient task execution. Recent studies propose self-evolving agents that autonomously generate, refine, and reuse skills from past experiences to enable continuous capability evolution. However, autonomous skill evolution introduces a new attack surface in which malicious capabilities are generated, stored, and reused as legitimate skills. In this paper, we define EvoSkill Injection as a threat model targeting the autonomous skill generation and evolution pipeline of self-evolving agents. We further propose SARGE (Red-teaming Autonomous Skill Generation and Evolution in self-evolving agents), a red-teaming framework for evaluating this threat model through iterative generation, escalation, and reinforcement interactions. To support our framework, we construct EvoSkillBench, a benchmark dataset of malicious interaction trajectories for inducing malicious skill formation in self-evolving agents, and introduce EvoSkillSafetyBench, a post-attack benchmark for evaluating whether injected malicious skills are subsequently retrieved and activated as harmful behaviors. Our evaluation shows that SARGE induces malicious skill formation and that injected skills are persistently stored and repeatedly activated, highlighting the risk of persistent capability corruption.

Doyun Kim, Chanwoo Kim, Sugyeong Eo +2

Soongsil University · Yonsei University · Jeju National University

AI Agent Security AI Agent Security Benchmarks Agent Skill Learning Automated Red Teaming Self-Evolving Agents

Aug 17, 2026cs.RO

Teach and Grow: An Agent-Centered Architecture for General Robot Learning

Vision-language-action (VLA) and world-action models typically absorb unfamiliar manipulation tasks through additional robot data collection and policy optimization. This recurring retraining burden slows the acquisition of new behavior. We present Teach-and-Grow Learning (TGL), a training-free architecture that turns a few successful demonstrations into reusable robot skills. Task acquisition requires no gradient updates, fine-tuning, or reinforcement learning: pretrained model weights remain fixed as the robot expands its explicit knowledge. Teaching is an accelerator, not a precondition, because the agent can also drive the robot directly, and demonstrations mainly improve reliability. Our implementation uses OpenAI GPT-6 Astra for multimodal reasoning and Codex to connect the agent to robot tools. The agent identifies subgoals shared across demonstrations, expresses them as closed-loop Skill Blocks, and grounds each block in the current scene. Physical feedback guides the next action and any recovery. Verified behaviors enter a persistent Skill Library; Experience Memory records the conditions and repairs that inform later decisions. TGL reaches 99.9% mean success on four LIBERO suites and 92.4% on seven LIBERO-Plus perturbation categories. Controlled studies show that taught blocks persist and improve related-task execution under the same model weights and executors. We further formulate a scaling hypothesis that relates effective reusable experience to falling future-task error and teaching demand. Code and demonstration videos: https://tgl.changnie.top .

Chang Nie, Zhe Liu, Hesheng Wang

School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, and the Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai 200240, China

Robot Skill Learning Generalization in Robotic Manipulation Data-Efficient Robot Learning Learning from Demonstration Agent Skill Learning Robot Learning

Aug 13, 2026cs.RO

Deliberate Practice: Learning Robot Skills under a Budget

We consider the problem of autonomously learning robot skills under a limited practice budget for sequential tasks. We propose an active skill learning algorithm, \emph{Deliberate Practice (DP)}, that computes a provably \emph{budget-optimal} allocation---practicing skills that maximize expected cumulative reward while being learnable within the budget. DP estimates both the time needed to master skills and the cumulative reward of the task plans that the skills unlock. Computing a budget-optimal allocation is challenging as it requires reasoning about combinatorially many skill plans over a large practice budget. Our key contribution is a bilinear program that can compute this exactly using off-the-shelf solvers. Through simulated and real-world experiments on long-horizon manipulation tasks, we show that our approach allows robots to optimally use limited practice time to acquire useful policies and improve long-horizon planning.

Shivam Vats, Sudarshan Harithas, Mete Tuluhan Akbulut +2

1Brown University · 2Mitsubishi Electric Research Laboratories

Long-Horizon Robotic Manipulation Robot Skill Learning Agent Skill Learning

Aug 12, 2026cs.AI

MindMemOS: A Portable and Self-Evolving Memory Operating Layer for AI Agents

Memory is a core component of AI agents, enabling them to accumulate experience, maintain personalization, and adapt over long-term interactions. However, existing memory systems often remain fixed after development, limiting their ability to adapt their memory models, organization strategies, and procedural knowledge through continued use. We present MindMemOS, a portable and self-evolving memory operating layer that organizes open-world information using a unified entity property timestructure. MindMemOS supports scenario-adaptive memory modeling, higher-order pattern discovery, autonomous memory refinement, and continuous skill evolution. Its MindMemEvolve algorithm employs validation-driven evolutionary search to optimize memory schemas for target scenarios, whiledreaming consolidates accumulated memories by merging redundant records and resolving conflicts. In addition, implicit corrective feedback serves as a human-in-the-loop signal for identifying and revising potentially inaccurate or misaligned memories. Its MindSkillEvolve algorithm further transforms agent execution trajectories into reusable and progressively refined skills. MindMemOS achieves 94.03% accuracy on LOCOMO and 70.63% on PersonaMem. MindSkillEvolve improves SpreadsheetBench success by 9.2 percentage points over the initial-skill baseline.

Kaichao Liang, Yuqi Cui, Hao Kong +13

Noah’s Ark Lab, Huawei Technologies

Agent Memory Agent Skill Learning Agent Memory Management Self-Evolving Agents

Aug 11, 2026cs.RO

BooST: Bridging Semantics and Motions for Efficient Skill Transfer

Skill abstraction---the process of learning reusable and temporally extended behaviors---has emerged as a key paradigm for improving sample efficiency and generalization in robot learning. For efficient skill transfer to real robots, learned skills must generalize across tasks and domains, remain robust to visual and dynamic perturbations, and be efficient enough for practical deployment. However, existing methods typically satisfy only a subset of these properties, as they capture either high-level semantic intent (what) or low-level motion dynamics (how). This incomplete skill transfer yields weak priors for policy learning, thereby demanding substantial in-domain data for downstream adaptation. To address these challenges, we introduce BooST, a two-stage framework that explicitly bridges semantics and motions to satisfy all three desiderata. BooST first leverages a cross-modal VQ-VAE to capture both semantic intent and motion dynamics, yielding a unified skill representation. It then distills this representation into a lightweight policy for efficient downstream adaptation to new tasks. Extensive experiments across simulation and real-robot settings demonstrate that BooST achieves superior few-shot adaptation, cross-domain skill transfer, and robustness to dynamic visual distractors, while maintaining a lightweight yet expressive design suitable for real-world deployment.

Jusuk Lee, Daesol Cho, Jonghun Shin +4

Department of Aerospace Engineering, Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, Korea · Georgia Institute of Technology, Atlanta, GA, USA

Agent Skill Learning Robot Policy Generalization Robot Learning

Aug 8, 2026cs.AI

Query-Only Backdoor Attacks on Self-Evolving Skills via Trajectory Poisoning

Agentic skills improve large language model (LLM) agents by encoding reusable procedures for complex tasks. However, manually authored skills often adapt poorly to long-horizon tasks and changing environments. To address the limitation, self-evolving skill systems have been developed to automatically construct and update skills from execution trajectories, shifting skill acquisition from external marketplaces to a trusted evolution pipeline. By replacing external skill acquisition with trusted internal construction, self-evolving skill systems reduce exposure to skill injection attacks that rely on direct skill manipulation. However, this skill evolution pipeline may introduce a new attack surface in which an attacker can indirectly steer skill evolution by inducing compromised trajectories through agent interactions. To demonstrate the threat, we propose Trajectory Backdoor Attack (TBA), a query-only attack that steers a trusted skill-evolution pipeline toward producing a backdoored skill. Specifically, we craft attacker-submitted queries to lead the agent to perform the target action and explicitly state the corresponding activation condition in the trajectory. We repeat the same condition-action pattern across diverse triggered tasks, while leaving clean queries unchanged, encouraging the evolver to consolidate the pattern as a reusable trigger-dependent rule into the evolved skill. Experiments on three benchmarks across two skill-evolution systems using four open- and closed-source backbone models demonstrate that TBA reliably implants conditional backdoors while preserving clean-task utility, matching or even surpassing direct skill injection. The results reveal a critical vulnerability in trajectory-driven skill evolution.

Yuyang Luo, Haoran Wang, Kai Shu

1Emory University

LLM Backdoor Attacks Adversarial Attacks Agent Skill Learning Black-Box Adversarial Attacks Self-Evolving Agents

Aug 6, 2026cs.LG

SkillTFM: Gated Skill Evolution for Training-Free Adaptation of Tabular Foundation Models

Tabular data are ubiquitous in real-world applications and are crucial for data-driven prediction and decision-making across science, industry, finance, healthcare, and public services. Tabular foundation models (TFMs) have emerged as a promising paradigm for general-purpose tabular learning, offering reusable predictors across diverse datasets and substantially reducing the need for task-specific training, tuning, and model development. However, their practical deployment remains constrained by distribution shifts, heterogeneous feature semantics, and task-specific patterns that are difficult to capture without costly fine-tuning or additional labeled data. To this end, we propose SkillTFM, a training-free system that shifts TFM adaptation from parameter updates to the gated evolution of agentic skills. The core of SkillTFM is a verifiable and extensible skill bank that couples boundary evidence identification with gated skill evolution: the former characterizes task structure and base-model failure patterns, whereas the latter retrieves and extends reusable skills subject to explicit validation. Across simulated boundary settings and real-world electricity-price forecasting, SkillTFM improves AUC by 0.128--0.142, raises nonlinear-boundary AUC from 0.699 to 0.898. Furthermore, experiments across TFM backbones demonstrate the effectiveness and generality of SkillTFM.

Yi He, Zhengkang Guan, Anpeng Wu +3

Zhejiang University, Hangzhou, China · Tsinghua University, Beijing, China

Tabular Foundation Models Test-Time Adaptation OOD Generalization Agent Skill Learning Tabular Prediction

Aug 6, 2026cs.AI

When Do Prompt-Side Agent Playbooks Transfer? Accuracy, Cost, and Runtime Shift in Agent Deployment

Prompt-side playbooks can improve tool-using language agents without retraining, but their portability beyond the source setting is unclear. We study frozen playbook transfer under a shared distill--validate--transfer protocol. On ALFWorld, transfer is beneficial under controlled greedy decoding and, in one near-budget-matched comparison, distilled guidance outperforms five fixed demonstrations. On TAU2-Bench, a prespecified aggregate contrast supports a modest average matched-domain advantage, but global Holm correction retains only one of 135 route-level effects; the remaining grid provides descriptive evidence of compatibility-sensitive heterogeneity. On XBench-DeepSearch, one artifact--runtime pairing preserves useful first-try heuristics while producing repeated queries, delayed stopping, and substantial cost inflation after a context-runtime shift. Across benchmarks, transferred and target-derived playbooks both require target-side validation of success, termination, protocol compatibility, and cost. Frozen transfer is therefore a conditional cold-start option, not a reuse-by-default strategy or a universally preferable alternative to target-side redistillation.

Weihong Lin, Lin Sun, Xiangzheng Zhang

Beijing Qiyuan Technology Co., Ltd., Beijing, China

LLM Agent Evaluation Tool-Using Agents LLM Agents Agent Skill Learning

Aug 6, 2026cs.CR

When Experience Becomes Instruction: Trajectory Poisoning in Self-Evolving Agent Skill Systems

Self-evolving skill (SES) systems distill agent trajectories into persistent skills, allowing untrusted experience to become trusted instruction. We introduce PoisonedEvolution, a trajectory-poisoning attack on this promotion process. Our skill-visible black-box attacker can inspect a target skill and contribute bounded evidence, but cannot observe private pools or evolution logic or edit the skill bank. Artifact poisoning requires Inclusion, Evolution Attribution, and Realization. Attribution is the distinctive bottleneck: the target behavior must appear causally useful, recurrent, and generalizable before promotion. We evaluate four representative security-effect families using inert canary specifications. At 10% attacker support, across six mainstream LLM evolvers in SkillClaw, PoisonedEvolution embeds target behaviors in 546/600 trials (91.0% SER). On the structurally different Trace2Skill pipeline at the same ratio, it embeds target behaviors in 369/600 trials (61.5% SER), demonstrating transfer across evolution architectures. In a representative controlled study, three consistent attacker records suffice in a 30-record batch, whereas a single record is much weaker. Ablations identify recurring support, causal framing, and domain-aligned encoding as the main determinants of success. These findings expose evidence promotion as a security boundary for self-evolving agents.

Jialuo Chen, Lingqi Jiang, Xinhao Deng +7

Ant Group · Zhejiang University · Tsinghua University +3

Adversarial Attacks AI Agent Security Agent Skill Learning Self-Evolving Agents

Aug 5, 2026cs.AI

Search2Skill: Skill Distillation Beyond Knowledge Boundaries Via Rubric-Based Reinforcement Learning

Reusable skills, which encapsulate the procedural knowledge required to solve real-world professional tasks, offer LLM-based agents a path toward self-evolution in expert domains. Existing self-evolving skill methods construct skills internally from the model's parametric knowledge or trajectories, and are therefore bounded by what the model already knows. However, the domain conventions and standard procedures underlying professional skills often lie beyond this boundary and are hard to elicit from the agent alone. To address this issue, we therefore propose a novel framework, Search2Skill, that automatically identifies the agent's capability gaps, searches external sources to address them, and distills the retrieved evidence into structured, reusable skills. Specifically, Search2Skill is optimized by a rubric-based reinforcement learning scheme that jointly improves when to search, how to search, and how to generate skills. Experiments on eight expert-level domains from three benchmarks show that Search2Skill consistently outperforms both search-augmented and trajectory-based skill-learning baselines under both streaming and held-out evaluation protocols. Further analyses show that the gains arise from skill abstraction rather than raw retrieved evidence, and that the acquired skills transfer across model scales.

Muyang Ye, Tian Lan, Feihu Jiang +10

Zhejiang University · Alibaba Group · Institute of Artificial Intelligence, Xiamen University +1

LLM Agent Skill Learning LLM Agent Skill Retrieval Agent Skill Learning Self-Evolving Agents

Aug 3, 2026cs.AI

Evolving in the Agent Jungle via History-Informed Opponent Awareness

Learning to adapt strategies through interaction is a key step toward more general and autonomous LLM agents. Existing approaches typically achieve behavioral adaptation by revising skill libraries. However, in multi-agent environments, opponents may simultaneously update their strategies, causing the environment itself to evolve continuously. Applying skill-revision methods designed for static environments in such settings therefore amounts to updating against an obsolete reference. To address this challenge, we introduce OASE (Opponent-Aware Selective Evolution), which identifies and adopts genuinely beneficial skill revisions in dynamic multi-agent environments. Specifically, OASE conducts paired comparisons between a candidate skill and the incumbent under identical conditions anchored by historical snapshots of opponent strategies, and adopts the candidate only when its estimated payoff gain exceeds an acceptance threshold. We evaluate OASE in two decision-making scenarios: first-price auctions and private-cost Cournot competition. Experimental results show that, compared with a Reflexion-style baseline, OASE achieves a lower final equilibrium distance in both environments while accepting substantially fewer skill revisions, thereby suppressing strategy changes that lack sufficient payoff support. OASE therefore replaces blind updating with evidence-anchored selection, allowing agents to adapt stably and efficiently even as opponents continuously evolve.

Zhaofeng Zhang, Linhan Xia, Rui Liu +3

University of Edinburgh · University of Michigan · University of Oklahoma +5

Multi-Agent Systems Agent Skill Learning Self-Evolving Agents

Aug 3, 2026cs.RO

Weights or Skills? A Survey of Robot-Learning Techniques: from Action-Predicting Weights to Robots that Write their Own Skills

Robot learning is splitting into two bets: policies that bake competence into frozen weights (vision-language-action, or VLA, models), and agents that write and refine their own executable skills as code. This survey organises the field around that axis of weights versus skills. Its central analytical contribution is a deep-dive that arranges code-as-policy methods by their degree of self-improvement, from zero-shot program synthesis, through closed-loop self-repair and persistent skill memory, to the sparsely populated cell in which execution feedback, skill memory, and evolutionary search combine into one open-ended loop; only a few very recent systems (for example ASPIRE, ENPIRE, and RoboClaw) occupy that cell. We map the complementary "skills" pole, from unsupervised reinforcement-learning skill discovery to large-language-model skill libraries, and show that the word "skill" is used in at least five distinct senses, of which only the code sense self-improves without gradient updates. We then connect the taxonomy to the emerging skill economy: commercial robot-skill marketplaces now distribute one-tap skills across robots but ship only static playback, which surfaces open problems of adaptation, cross-embodiment portability, provenance, safety verification, composition, and standardisation. This is a deliberately focused survey. Rather than cataloguing the field exhaustively, it examines 77 representative systems across six technique families through one taxonomy and a set of contrast tables, and it supplies operational definitions of the self-improvement mechanisms together with a statement of what each family cannot do.

Gaytri Jena, Kapil Wanaskar, Vinija Jain +3

UC Berkeley, Berkeley, CA, USA · San Jose State University, USA · Meta, USA +3

Robot Skill Learning Agent Skill Learning Self-Improving Agents Robot Learning

Aug 3, 2026cs.AI

ESCROW: Guarded and Dual-Objective Continual Maintenance for Agents in Policy-Governed Enterprise Workflows

LLM agents increasingly run policy-bound enterprise workflows, where they must apply rules consistently and stay auditable. Deploying such an agent is the start of its long-term maintenance cycle: it must adapt to a stream of operational signals, yet reliably turning these sparse, unlabeled signals into reusable skill revisions is hard, and a careless update can trade one task category's accuracy for the overall gain, revive a resolved failure, or land at an undeployable cost. We present ESCROW, a post-deployment maintenance framework that updates an agent's external, reviewable skills under a Strict Update Boundary: the LLM proposes candidate revisions, but only an empirically evaluated version is deployed. It combines distributed diagnosis with consensus, a per-category non-regression guard, cross-cycle anti-regression, and accuracy--cost Pareto search, emitting a versioned, auditable diff per change. In real production on our internal financial document-auditing system, it attains the strongest evaluated accuracy--cost trade-off among baselines, with a transfer probe on public

τ

-bench.

Ruoqi Shu, Chen Dan, Xuhui Wang +4

BMO Financial Group

Continual Learning for LLM Agents Business Process Automation Agent Skill Learning LLM Agent Reliability

Jul 31, 2026cs.AI

Self-Play Meets Skill Evolution: Self-Evolving Search Agents that Pose, Solve, and Remember

Self-play agents can generate training problems without questions from target benchmarks, but their curricula lack persistent state: failures affect gradients yet do not explicitly shape future practice. External skill memories preserve procedural experience but are typically learned from fixed task distributions. We introduce \textbf{SESA} (Self-Evolving Skill-Augmented Agent), which makes procedural memory an evolving state of tool-augmented search self-play. A challenger poses problems, while a separately parameterized solver alone retrieves skills. Informative failures are distilled into reusable skills and written back to memory. The updated memory changes solver behavior and success, which changes the challenger's reward and the distribution of future problems; the resulting frontier produces new failures that rewrite memory. This bidirectional loop makes task generation and skill memory co-evolve. Because retrieved skills shape on-policy training trajectories, their benefits can enter the model parameters as well as remain in the external bank, enabling memory-free deployment and optional inference-time retrieval. Across seven open-domain and multi-hop question-answering benchmarks, SESA improves average accuracy over SSP by 1.2--3.2 points across multiple backbones and surpasses the skill-augmented SkillRL baseline by 0.9 points under a unified evaluation protocol. On Qwen3 models, SESA-Off retains 1.8--2.2 points of improvement over SSP, while the final skill bank adds a further 0.5--1.0 points. These results show that evolving skill memory is not merely an inference-time plug-in: it changes policy learning and the future training distribution while retaining value as optional external memory. Our code is available at https://github.com/Zenghuang-Fu/SESA-Self-Evolving-Search-Agents.

Zenghuang Fu, Zhaoyang Li, Qiuyuan Ai +6

University of Chinese Academy of Sciences · Institute of Automation, Chinese Academy of Sciences · Peking University +4

Self-Play RL Agent Skill Learning Memory-Augmented Language Model Agents

Jul 31, 2026cs.SE

Rethinking Self-Evolving Agent Skills: Feedback Dynamics over Multiple Rounds

Self-evolving skill systems promise to improve agents by turning execution feedback into persistent skill updates without changing the underlying model. Yet it remains unclear when further evolution helps, how successful and failed trajectories shape revision, and whether extra test-time computation can recover the same gains. To address these questions, we present a controlled evaluation framework across five benchmarks and three models. Our primary study contains 42 feedback runs across 14 supported model-benchmark settings. Within each setting, we hold the executor and optimizer configuration, revision procedure, validation rule, and round budget fixed, while varying only the feedback shown to the optimizer: successes and failures (Normal), failures only, or successes only. Evolution is sparse: only 55 of 388 candidates establish byte-distinct validation bests. Validation-based selection chooses an evolved skill in 11 of 14 settings, nine of which improve released-test performance. All 11 selections come from feedback conditions that include failed trajectories, although the relative ranking of Normal and Fail-only varies across settings. Validation and downstream evaluations on test, robustness, and transfer sometimes favor different feedback views. A broader SearchQA analysis covering eight models shows similarly sparse, feedback-dependent dynamics. In the GPT-5.5 test-time-scaling controls, oracle Parallel Sampling comes within 0.43 points of the evolved SearchQA skill but remains 30.96 points behind on SpreadsheetBench; Sequential Refinement recovers neither gain. Overall, persistent skill self-evolution is better understood as sparse, validation-filtered search with model- and benchmark-dependent returns, rather than steady improvement from additional rounds. The implementation is available at https://github.com/HKUST-KnowComp/rethinkskill.

Yuxuan Liu, Zhaochen Su, Yuhao Zhang +9

The Hong Kong University of Science and Technology · Harbin Institute of Technology, Shenzhen · Harbin Institute of Technology +1

AI Agent Evaluation Agent Skill Learning Self-Evolving Agents

Jul 29, 2026cs.AI

From Passive Video to Editable Experience: Physically Grounded Experience Synthesis for Embodied Intelligence

The key bottleneck in embodied AI is not model architecture but data. Although billions of human manipulation videos exist online, robots cannot directly learn from them due to the embodiment gap between human morphology and robot hardware. We introduce Pegasus, a low-resource framework that bridges this gap by translating human demonstrations into robot-learnable data through structured knowledge transfer. Instead of relying on raw video prompts, Pegasus constructs a graph-based intermediate representation: a Task Graph extracted from human videos is transformed through Affordance and Constraint Graphs into a Robot Planning Graph for robot-conditioned video generation. A hierarchical affordance latent space models the relationship between object states, affordances, and tasks, enabling generalization beyond object identities. A closed-loop physics verifier further filters invalid generations using kinematic feasibility, collision constraints, and joint limits. We evaluate Pegasus across a range of egocentric manipulation benchmarks, including GTEA Gaze+ and EPIC-KITCHENS-100, and diverse robot embodiments, assessing Task Correctness, Executability, State Consistency, and Learnability. Results demonstrate reliable cross-embodiment translation and show that robot data generation can be reframed from a hardware collection problem into a scalable, low-resource knowledge transfer problem.

Jia Luo

Huazhong University of Science and Technology

Synthetic Data Generation for Robotics Robotic Manipulation Agent Skill Learning Controllable Video Generation Cross-Embodiment Transfer

Jul 22, 2026cs.RO

Emergent Compositional Skills in Mixture-of-Experts VLAs

We consider the problem of learning compositional robot policies end-to-end from expert demonstrations, without any pre-specified notion of task decomposition or hierarchy. We ask whether a VLA trained with a simplified Mixture-of-Experts (MoE) action head can emergently learn to decompose tasks into reusable, interpretable primitives. We find that learned experts are heavily reused across tasks and consistently correspond to qualitatively distinct low-level behaviors, suggesting that the router implicitly learns to perform high-level sequencing while experts serve as compositional primitives. Our MoE matches the task performance of a monolithic baseline while demonstrating meaningful expert specialization, a step toward modular, interpretable robot policies that emerge from data alone.

Shlok Shah, Rhiaan Jhaveri, Tharun Kumar Tiruppali Kalidoss +3

Department of Computer Science, Princeton University, Princeton, NJ, USA · Department of Electrical and Computer Engineering, Princeton University, Princeton, NJ, USA

Robot Policy Learning Robot Skill Learning Robot Imitation Learning Agent Skill Learning Interpretability in RL Mixture-of-Experts Models+1

Jul 22, 2026cs.CL

Solar Open 2 Technical Report

We present Solar Open 2, a 250B-A15B Mixture-of-Experts language model built for long-horizon agentic tasks, scaled up from Solar Open 1 (Solar Open 100B). To hold entire agent trajectories in a single context, Solar Open 2 reaches a 1M-token window through a hybrid attention stack that interleaves one softmax layer among every three linear-attention layers, using no positional encoding and a gated delta rule extended to negative eigenvalues. To train at this scale under a fixed compute budget, we make training efficient in two ways: a stronger starting point, and higher-value data. For the starting point, we initialize Solar Open 2 from Solar Open 1, transferring the 5.69B-parameter shared skeleton that survives the architectural change and learning everything else through full pre-training. For the data, we curate for value per token: quality- and rarity-aware data curation and mixture-ratio optimization refine a 20T pool into a 10T mixture that, at equal token budget, outperforms the Solar Open 1 recipe. To build its agent skills, we train twelve domain specialists across purpose-built scenarios, then consolidate them into a single model by Multi-teacher On-Policy Distillation (MOPD). Against comparably sized open-weight models on English benchmarks, Solar Open 2 leads on MMLU-Pro, LiveCodeBench, and the APEX-Agents agentic suite, and stays competitive with the strongest (DeepSeek-V4-Flash and MiMo-V2.5) elsewhere. On Korean benchmarks, Solar Open 2 records the highest average of any model compared, including fast-tier closed APIs, and on Ko-GDPval, an in-house Korean officework-agent benchmark, it is competitive with DeepSeek-V4-Pro (1.6T) at less than a sixth of its size.

Sungrae Park, Sanghoon Kim, Gyoungjin Gim +50

Mixture-of-Experts Language Models Long-Context Language Modeling Agent Skill Learning Long-Horizon LLM Agents LLM Training

Jul 15, 2026cs.CL

SPyCE: Skill-Policy Co-evolution for Multimodal Agents

Multimodal agents that think with images iteratively manipulate visual evidence and invoke tools across many steps. Existing reinforcement learning methods reduce trajectories to scalar rewards, forcing the policy to discover reusable tool-use patterns from scratch on every new task; memory-based alternatives retain past experience, yet they rely on test-time retrieval, without updating the policy to absorb reusable patterns from that experience. Our key insight is that multimodal reasoning trajectories should be distilled into reusable skills that co-evolve with the policy during training, rather than being consumed as rewards or retrieved from a static store. To this end, we propose SPyCE (Skill-Policy Co-evolution), a framework that distills trajectories into a hierarchical skill library and updates it throughout reinforcement learning. Execution skills capture local visual operations, while workflow skills encode high-level priors that orchestrate tool use. During training, the policy model conditions on retrieved skills to guide its rollouts, while the skill library evolves using valuable rollouts generated by the policy. This creates a closed loop in which improved policies yield better skills, and the evolving skill library, in turn, provides stronger priors for policy rollouts. Experiments across eight benchmarks demonstrate that SPyCE consistently outperforms both RL-based and memory-based baselines. Further analysis reveals that both the hierarchical skill design and the co-evolution mechanism are critical to our design. These results suggest joint skill-policy optimization as a promising paradigm for building capable multimodal agents.

Ru Zhang, Weijie Qiu

Zhejiang University, Hangzhou, China · Beijing University of Posts and Telecommunications, Beijing, China

Multimodal Reasoning Agent Skill Learning Multimodal Agents RL for LLM Agents RL for Tool Use

Jul 14, 2026cs.CL

KnowAct-GUIClaw: Know Deeply, Act Perfectly, Personal GUI Assistant with Self-Evolving Memory and Skill

OpenClaw has emerged as a leading agent framework for complex task automation, yet it faces insufficient cross-platform GUI interaction support and a well-built self-evolution mechanism. These flaws limit its adaptation to diverse device ecosystems and prevent performance improvements through continuous learning from execution experience. To resolve these issues, we propose the Know Deeply, Act Perfectly paradigm for personal assistants, which holds that accumulated user interaction and task-running experience directly improve execution accuracy and efficiency, unifying cognitive comprehension and operational execution. Based on this paradigm, we introduce KnowAct-GUIClaw, a novel Know-Route-Act-Reflect framework designed to address OpenClaw's GUI manipulation deficits and break through its cross-platform and recursive self-improvement constraints. First, the host agent leverages accumulated interaction experience and task-relevant knowledge for long-horizon task decomposition and allocation (Know). Second, a pluggable GUI subagent with an experience-attributable memory system (Know) and self-evolving skill library (Act), enabling seamless cross-platform migration and fast-path integration. Especially, this framework continuously stores user profiles and feedback to improve the accuracy of task decomposition and tool calls. Extensive experiments across Android, iOS, HarmonyOS and Windows show that KnowAct-GUIClaw achieves superior efficiency, accuracy and cross-platform adaptability. Especially, the GUIClaw with open-source Kimi-2.6 models achieves the best performance (64.1%) on the long-horizon MobileWorld benchmark, beating all agentical frameworks and closed-source agentical models, e.g., Seed-2.0-Pro and GPT-5.5. Additionally, the knowledgeable memory and execution skills supported by our framework are transferable across diverse base models, improving by 8.5% with Kimi-2.6.

Yunxin Li, Jinchao Li, Shibo Su +7

Lychee Team∗, Harbin Institute of Technology, Shenzhen

Mobile GUI Automation GUI Agents Mobile GUI Agents Agent Skill Learning Memory-Augmented Agents GUI Automation

Jul 13, 2026cs.RO

GaitSpan: Growing Humanoid Locomotion from Walking to Running

A humanoid that can walk should not relearn locomotion from scratch to jog or run. Yet current approaches often obtain gait diversity by prescribing gait schedules, imitating motion clips, training experts to switch between or distilling skills into one policy. These strategies can produce impressive behaviors, but offer limited flexibility across continuous speed commands, terrains, and morphologies. We study skill growth with GaitSpan, a framework that expands a pretrained, basic walking policy into faster locomotion. It treats walking as a seed skill: reusable motor structure for balance, support, body coordination, and contact transition that can be regenerated at new rhythms, extended into longer/higher strides, and corrected by residual adaptation. This expansion has three aspects: 1) rhythm generation, which modulates the frozen walking policy with multiple internal clocks and learns command-conditioned combinations of the resulting canonical actions; 2) stride shaping, which rewards dynamic locomotion patterns appropriate for higher commanded speeds using a physically grounded objective inspired by spring-loaded inverted pendulum dynamics; and 3) residual adaptation, which captures motion details not accounted for by rhythm generation or stride shaping. GaitSpan is the first to deliver a single command-conditioned humanoid policy that spans walking, jogging, and running-like regimes covering a continuous speed range, transfers across morphologies, and deploys zero-shot on unseen sim-to-sim, and real-world terrains. Compared with baselines either trained with multi-experts or imitation from humans, it learns faster and achieves stronger gait performance.

Kwan-Yee Lin, Zilin Wang, Janelle J. Liu +1

University of Michigan · Skyline High School · University of Michigan, UC Berkeley

Humanoid Robot Locomotion Agent Skill Learning Robot Policy Generalization

Jul 13, 2026cs.CV

SLVMBench: Skill Learning from Video Memory

We introduce Skill Learning from Video Memory (SLVMBench), the first benchmark that jointly evaluates whether video large language models (video-LLMs) can learn skills from long video memory and apply them to real-time tasks. SLVMBench presents models with 2-3 hour video streams that contain a tutorial video embedded in a stream of arbitrary irrelevant videos, resembling real-world human learning practices. Video-LLMs are asked to apply the acquired skill to answer real-time questions about an ongoing video. Unlike long-video understanding benchmarks that emphasize passive comprehension and skill-learning benchmarks that rely on short, immediate demonstrations, SLVMBench tests the full pipeline of memorizing and extracting procedural knowledge, as well as transferring it to real-time tasks. Moreover, rigorous human annotations feature sub-second-level temporal calibration, manually engineered questions eliminating common-sense guessing, and collated tutorials to ensure coverage of the required skills. Evaluations on state-of-the-art proprietary and open-source video LLMs show that video-LLMs struggle substantially with learning and applying skill knowledge from videos. Moreover, performance degrades markedly when the skill knowledge is placed within a long video memory. These results reveal a key limitation of existing video LLMs and position SLVMBench as the first benchmark for studying real-time skill acquisition and application from long-context video memory.

Yudong Yang, Guangzhi Sun, Yixuan Li +1

Tsinghua University · University of Cambridge

Memory-Augmented VLMs Video-Language Models Agent Skill Learning Memory-Augmented Video Understanding Long-Video QA

Jul 9, 2026cs.RO

SkillPlug: Unsupervised Skill Mining for Few-Shot Adaptation in Robotic Manipulation

Learning transferable visuomotor imitation policies that generalize across diverse manipulation tasks and adapt rapidly to new tasks from only a handful of demonstrations remains challenging. Most modern policies are trained end-to-end to map observations directly to low-level actions, offering little explicit structure for reusing and recombining behaviors across tasks and making transfer data-inefficient under limited supervision. We propose SkillPlug, a plug-in framework that augments an existing visuomotor policy with a skill-conditioning module and mines a shared, transferable skill library from raw multi-task demonstrations. SkillPlug learns skills via self-supervised objectives that promote compact, reusable, and non-redundant behavior-level primitives, forming a task-shared prior for compositional control. After skill mining, we keep the learned skills fixed and specialize to unseen tasks by fine-tuning only lightweight router and action head, enabling efficient adaptation without full end-to-end retraining. We evaluate SkillPlug on two simulation benchmarks and on a real robot, and observe that the mined transferable skills consistently improve both multi-task performance and few-shot adaptation. Overall, SkillPlug offers a scalable way to mine reusable skills that improve data-efficient generalization in robotic manipulation.

Zi-han Ding, Ziwei Wang

School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore

Robot Policy Adaptation Robot Skill Learning Generalization in Robotic Manipulation Multi-Task Robotic Manipulation Robotic Manipulation Robot Imitation Learning+3

Jul 6, 2026cs.AI

EvoAgentBench: Benchmarking Agent Self-Evolution via Ability Transfer

Agent self-evolution in long-horizon LLM systems is largely procedural: useful experience is not merely stored information, but reusable procedures for searching, debugging, and verification. Yet current evaluations do not isolate this form of transfer. Agent benchmarks test single-episode task solving; memory benchmarks target information retention rather than procedural reuse. We introduce EvoAgentBench, a benchmark for agent self-evolution via Ability-guided transfer across four agentic domains: web research, algorithmic reasoning, software engineering, and knowledge work. EvoAgentBench extracts trace-grounded Abilities from agent executions, canonicalizes them into operational units, and builds domain-specific Ability Graphs linking tasks that share procedural overlap. By design, every test task is backed by verified training-side Ability support. Across a 528/267 train/test split, two scaffolds, and three backbones, curated Ability content transfers reliably across model families, but no current automatic method sustains positive gain in all settings. EvoAgentBench shifts self-evolution evaluation from aggregate accuracy comparison to fine-grained diagnosis of experience encoding, routing, and uptake. The benchmark is publicly available at https://huggingface.co/datasets/EverMind-AI/EvoAgentBench.

Xingze Gao, Chuanrui Hu, Hongda Chen +9

1Anhui University · 2EverMind, Shanda Group · 3Southeast University

LLM Agent Self-Improvement AI Agent Benchmarks Agent Skill Learning Self-Evolving Agents

Jul 3, 2026cs.AI

Object-Centric Environment Modeling for Agentic Tasks

Large language model (LLM) agents can improve through accumulated experience, but free-form textual memories become difficult to maintain, validate, and reuse as interactions grow. Recent symbolic approaches learn executable skills or programmatic world models, yet often store local procedures or assume simplified dynamics. We propose Object-Centric Environment Modeling (OCM), which organizes experience into an executable object-centric environment model. OCM maintains two connected code bases: object knowledge, which defines environment entities and mechanisms as Python classes, and procedure knowledge, which records reusable interaction patterns that must import and use the object model. OCM works in an online setting: after each episode, OCM reflects on the trajectory, updates both knowledge bases, and verifies that all procedures execute against the updated object model. During future interaction, the agent uses progressive knowledge disclosure to inspect compact code signatures first and read source code only when needed. Experiments show that OCM achieves the best average rank across benchmarks and reduces invalid actions, demonstrating that agents can benefit from building object-centric environment models.

Yiyang Li, Tianyi Ma, Zehong Wang +2

University of Notre Dame · †Corresponding Author

Continual Learning for LLM Agents World Models Object-Centric World Models Agent Skill Learning Memory-Augmented Language Model Agents