skill learning

Skill2Real: Agentic Skill Learning for Zero-Shot Sim-to-Real Robot Manipulationarxiv.org

Skill2Real is an agentic framework that learns robot manipulation skills in simulation via a Proposer‑Verifier‑Governor loop and a hierarchical Cerebellum‑Brain memory, then transfers them zero‑shot to real robots using a shared API. Experiments on LIBERO‑90 and Robosuite show up to ~79% success on real tasks without any real‑world fine‑tuning, and ablations confirm the Verifier and Governor are…