Symskill
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Related Articles from SNS
Symskill: Symbol and Skill Co-Invention for Data-Efficient and Reactive Long-Horizon Manipulation
arXiv:2510.01661v3 Announce Type: replace Abstract: Multi-step manipulation in dynamic environments remains challenging. Imitation learning (IL) is reactive but lacks compositional generalization, since monolithic policies do not decide which skill to reuse when scenes change. Classical task-and-motion planning (TAMP) offers compositionality, but its high planning latency prevents real-time failure recovery.