[2603.02623] Uni-Skill: Building Self-Evolving Skill Repository for Generalizable Robotic Manipulation

Computer Science > Robotics arXiv:2603.02623 (cs) [Submitted on 3 Mar 2026] Title:Uni-Skill: Building Self-Evolving Skill Repository for Generalizable Robotic Manipulation Authors:Senwei Xie, Yuntian Zhang, Ruiping Wang, Xilin Chen View a PDF of the paper titled Uni-Skill: Building Self-Evolving Skill Repository for Generalizable Robotic Manipulation, by Senwei Xie and 3 other authors View PDF HTML (experimental) Abstract: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 VerbNet-inspired repository derived from large-scale unstructured robotic videos. SkillFolder introduces a hierarchical skill taxonomy that captures diverse skill descriptions at multiple levels of abstraction. By populating this taxonomy with large-scale, automatically annotated demonstrations, Uni-Skill shifts the paradigm of skill acquisition from inefficient manual ann...