Ai! Jack!v2026.04.01-f12
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EmbodiedSkills: A Unified Framework for Orchestrating, Training, and Deploying VLA Agents

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•기여: 로봇의 스킬 선택을 실행 제안으로 취급하고, 실행 전 조건 확인과 실행 후 결과 검증을 연결하는 EmbodiedSkills 제안
•방법: 고정된 executable-skill interface로 상위 계획, 제한된 저수준 VLA 실행, 검증·복구를 통합하고 정책 교체와 구조화된 학습 궤적 기록을 지원
•결과: 작업별 적응을 거친 저수준 VLA 정책의 평균 성공률은 RoboTwin 2.0의 50개 작업에서 86.20%, LIBERO의 4개 제품군에서 97.40%, 기억 의존적인 RMBench 4개 작업에서 12.5%임
•한계: 제시된 성공률은 저수준 정책의 실행 성능이며 전체 에이전트 루프의 효과를 직접 입증하는 수치는 아님

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huggingface.co
피드
HF Daily Papers
수집/분석 기준
2026. 9. 8. 오전 9:00
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Vision-language-action (VLA) models map visual observations and language instructions directly to robot actions, but long-horizon tasks require more than action prediction. An agent must coordinate perception, planning, execution, progress verification, and recovery as the physical state evolves. An action prediction or a model-generated skill decision does not, by itself, guarantee that the proposed operation is valid in the current state or that its outcome will be verified. We propose EmbodiedSkills, a unified framework that treats each skill decision as an execution proposal: the runtime checks its prerequisites before execution and verifies the outcome afterward. A shared executable-skill interface connects high-level skill selection, bounded low-level VLA execution, and post-action verification within a single agent loop. Because this interface remains fixed, low-level VLA policies can be replaced or adapted without changing the agent loop. The interface also records planning, execution, verification, and recovery events as structured trajectories, which provide supervision for individual components and can support optional online adaptation when interactive feedback is available. We instantiate EmbodiedSkills with Qwen3-VL and OpenPI/pi0.5 on RoboTwin 2.0 and LIBERO. Task-adapted low-level VLA policies achieve an average success rate of 86.20% across 50 RoboTwin 2.0 tasks and 97.40% across the four LIBERO suites. These results establish the execution performance of the task-adapted low-level VLA policies used in EmbodiedSkills. On four memory-dependent RMBench tasks, the same task-adapted execution approach achieves 12.5% average success. The framework provides a trainable and inspectable agent layer for turning these policies into closed-loop embodied systems.

EmbodiedSkills: VLA 에이전트의 조율·학습·배포를 위한 통합 프레임워크 — Ai! Jack! — Ai! Jack!