Generalizing Manipulation Skills with a Local Coding Agent

arXiv:2609.26499 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Code: https://github.com/MoonshotAI/Kimi-K3

Project page: https://www.anthropic.com/engineering/equippingagents-for-the-real-world-with-agent-skills

Terminology

• Generalization — 20× in this paper · explained in 13 episodes
• Conference on Robot Learning — 6× in this paper
• Failure Modes — 5× in this paper · explained in 3 episodes
• Benchmark — 4× in this paper · explained in 2 episodes
• Agent Harness — 3× in this paper · explained in 2 episodes
• Verification — 3× in this paper · explained in 2 episodes
• Affordance — 2× in this paper · explained in 1 episode
• Benchmarking — 2× in this paper · explained in 3 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• International Conference on Learning Representations — 2× in this paper
• International Conference on Machine Learning — 2× in this paper
• Abstraction — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Agent Skills — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Elias — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• KV cache — 1× in this paper · explained in 3 episodes
• Speculative Decoding — 1× in this paper · explained in 2 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes

Sources

• ALRM: Agentic LLM for Robotic Manipulation
• ASPIRE: Agentic /Skills Discovery for Robotics
• Gemini Robotics: Bringing AI into the Physical World
• SkillsBench: Benchmarking How Well Agent Skills Work Across Diverse Tasks
• On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning

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