SkillWeaver: Agentic Exploration over Neural Interaction Skills for Scalable Robot Data Generation

arXiv:2609.36171 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Project page: https://katefgroup.github.io/skillweaver

Terminology

• Neural Interaction Skills — 71× in this paper
• Verifier — 44× in this paper · explained in 2 episodes
• Benchmark — 32× in this paper · explained in 2 episodes
• Alignment — 27× in this paper · explained in 1 episode
• Actor — 20× in this paper · explained in 3 episodes
• Grounding — 15× in this paper · explained in 3 episodes
• Verification — 14× in this paper · explained in 2 episodes
• Generalization — 13× in this paper · explained in 13 episodes
• Ablation — 8× in this paper · explained in 1 episode
• Distillation — 6× in this paper · explained in 2 episodes
• Foundation Model — 6× in this paper · explained in 3 episodes
• Foundation Models — 6× in this paper · explained in 7 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• Failure Modes — 5× in this paper · explained in 3 episodes
• Trace — 5× in this paper · explained in 2 episodes
• Distribution Shift — 4× in this paper · explained in 6 episodes
• Fidelity — 4× in this paper · explained in 2 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Sim-to-Real Transfer — 4× in this paper · explained in 2 episodes
• Ablation study — 3× in this paper · explained in 1 episode
• Benchmarking — 3× in this paper · explained in 3 episodes
• Abstraction — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Agentic Framework — 2× in this paper · explained in 6 episodes
• Closed-Loop Control — 2× in this paper · explained in 3 episodes
• Commentary — 2× in this paper · explained in 2 episodes
• Core — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Segmentation Masks — 2× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 2× in this paper · explained in 4 episodes
• Action Flow — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Agentic Problem — 1× in this paper · explained in 1 episode
• Agentic Reasoning — 1× in this paper · explained in 1 episode
• Aperture — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Compositional Generalization — 1× in this paper · explained in 4 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Digital Twin — 1× in this paper · explained in 5 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Monte Carlo Tree Search — 1× in this paper
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

Sources

• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy
• MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation
• Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot
• GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Training
• cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation
• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• Playful Agentic Robot Learning
• ASPIRE: Agentic /Skills Discovery for Robotics
• RoboNet: Large-Scale Multi-Robot Learning
• Open X-Embodiment: Robotic Learning Datasets and RT-X Models
• ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills
• RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
• GenSim: Generating Robotic Simulation Tasks via Large Language Models
• MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
• TidyBot: Personalized Robot Assistance with Large Language Models
• CoPa: General Robotic Manipulation through Spatial Constraints of Parts with Foundation Models
• CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation
• Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities

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