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EmbodiedSkills: A Unified Framework for Orchestrating, Training, and Deploying VLA Agents

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

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 c

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