Learning New Tasks via Reusable Skills: Skill-Compositional Experts for Embodied Continual Learning

arXiv:2606.15685v2 Announce Type: replace Abstract: Embodied Continual Learning (ECL) aims to enable robots to continually acquire new manipulation tasks while retaining previously learned behaviors under closed-loop control. In ECL, feature drift can propagate through sequential decision-making under closed-loop control, turning representation changes into compounding behavioral deviations on previously learned tasks. A key challenge in ECL lies in structured skill reuse across continually evolving tasks, since existing methods primarily focus on skill learning without explicitly organizing them for coherent task execution. To address this issue, we propose SCE, a Skill-Compositional Experts framework for ECL. SCE builds a skill base via Compositional Skill Grounding (CSG), which decomposes task demonstrations into reusable skills. Based on this, Dual Execution-and-Transition Experts (DETE) enable new task learning through skill composition, where one branch ensures skill execution and the other supports transitions between skills for coherent behavior. Experiments on LIBERO benchmarks and real-world manipulation tasks show that SCE improves retention and overall task performance. Further feature drift analyses and ablation studies verify the effectiveness of our method. Project website: https://eqcy.github.io/sce/.

Abstract:Embodied Continual Learning (ECL) aims to enable robots to continually acquire new manipulation tasks while retaining previously learned behaviors under closed-loop control. In ECL, feature drift can propagate through sequential decision-making under closed-loop control, turning representation changes into compounding behavioral deviations on previously learned tasks. A key challenge in ECL lies in structured skill reuse across continually evolving tasks, since existing methods primarily focus on skill learning without explicitly organizing them for coherent task execution. To address this issue, we propose SCE, a Skill-Compositional Experts framework for ECL. SCE builds a skill base via Compositional Skill Grounding (CSG), which decomposes task demonstrations into reusable skills. Based on this, Dual Execution-and-Transition Experts (DETE) enable new task learning through skill composition, where one branch ensures skill execution and the other supports transitions between skills for coherent behavior. Experiments on LIBERO benchmarks and real-world manipulation tasks show that SCE improves retention and overall task performance. Further feature drift analyses and ablation studies verify the effectiveness of our method. Project website: this https URL.

Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

arXiv:2606.15685 [cs.RO]

(or arXiv:2606.15685v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.15685 Focus to learn more arXiv-issued DOI via DataCite

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Learning New Tasks via Reusable Skills: Skill-Compositional Experts for Embodied Continual Learning

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