{"id":"https://openalex.org/W7167029019","doi":"https://doi.org/10.48550/arxiv.2607.00272","title":"ASPIRE: Agentic /Skills Discovery for Robotics","display_name":"ASPIRE: Agentic /Skills Discovery for Robotics","publication_year":2026,"publication_date":"2026-06-30","ids":{"openalex":"https://openalex.org/W7167029019","doi":"https://doi.org/10.48550/arxiv.2607.00272"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.00272","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.00272","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.00272","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114054936","display_name":"Runyu Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Runyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138673374","display_name":"Yubo Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Yubo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078852752","display_name":"Ethan Kou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kou, Ethan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029886554","display_name":"Letian Fu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fu, Letian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139892346","display_name":"Wenli Xiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao, Wenli","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026180478","display_name":"Ajay Mandlekar","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mandlekar, Ajay","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114062388","display_name":"Yinzhen Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Yinzhen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029314167","display_name":"Guanya Shi","orcid":"https://orcid.org/0000-0002-9075-3705"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Guanya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139884064","display_name":"Ken Goldberg","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Goldberg, Ken","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100683544","display_name":"Ang Chen","orcid":"https://orcid.org/0000-0002-9610-6648"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Ang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013180923","display_name":"Mosharaf Chowdhury","orcid":"https://orcid.org/0000-0003-0884-6740"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chowdhury, Mosharaf","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139853537","display_name":"Yuke Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Yuke","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054905472","display_name":"Linxi Fan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Linxi \"Jim\"","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139929819","display_name":"Guanzhi Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Guanzhi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3831000030040741,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3831000030040741,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.23960000276565552,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.05249999836087227,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.6973999738693237},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6854000091552734},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6758999824523926},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6680999994277954},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5063999891281128},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.42170000076293945},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.41040000319480896},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.3582000136375427},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.35109999775886536}],"concepts":[{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.6973999738693237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6865000128746033},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6854000091552734},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6758999824523926},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6680999994277954},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6442000269889832},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5066999793052673},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5063999891281128},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.42170000076293945},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.41040000319480896},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.3582000136375427},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.35109999775886536},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3495999872684479},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.33500000834465027},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3280999958515167},{"id":"https://openalex.org/C110332635","wikidata":"https://www.wikidata.org/wiki/Q629498","display_name":"Genetic programming","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.322299987077713},{"id":"https://openalex.org/C152752567","wikidata":"https://www.wikidata.org/wiki/Q116877","display_name":"Code refactoring","level":3,"score":0.322299987077713},{"id":"https://openalex.org/C143587482","wikidata":"https://www.wikidata.org/wiki/Q1543216","display_name":"Iterative and incremental development","level":2,"score":0.301800012588501},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.3009999990463257},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2955999970436096},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.2883000075817108},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.2847000062465668},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C33857546","wikidata":"https://www.wikidata.org/wiki/Q80006","display_name":"Computer programming","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26420000195503235},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.2587999999523163}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.00272","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.00272","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.00272","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.00272","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.7444223165512085}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Traditional":[0],"robot":[1,40,80,201],"programming":[2,195],"is":[3],"challenging:":[4],"it":[5],"requires":[6],"orchestrating":[7],"multimodal":[8,86],"perception,":[9],"managing":[10],"physical":[11],"contact":[12],"dynamics,":[13],"and":[14,18,38,63,66,94,110,119,145,181,200],"handling":[15],"diverse":[16,116],"configurations":[17],"execution":[19,81],"failures.":[20],"We":[21],"introduce":[22],"ASPIRE":[23,55,127,166],"(Agentic":[24],"Skill":[25],"Programming":[26],"through":[27],"Iterative":[28],"Robot":[29],"Exploration),":[30],"a":[31,44,51,78,97],"continual":[32],"learning":[33],"system":[34],"that":[35,58,83,102,114],"autonomously":[36],"writes":[37],"refines":[39],"control":[41,120],"programs":[42,121],"in":[43,70],"code-as-policy":[45],"paradigm":[46],"while":[47],"compounding":[48],"experience":[49],"into":[50,106],"reusable":[52],"skill":[53,100],"library.":[54],"discovers":[56],"skills":[57,185],"persist":[59],"across":[60,197],"tasks,":[61],"simulation":[62],"real-world":[64],"settings,":[65],"embodiments.":[67],"It":[68],"operates":[69],"an":[71],"open-ended":[72],"loop":[73],"with":[74],"three":[75],"components:":[76],"(1)":[77],"closed-loop":[79],"engine":[82],"exposes":[84],"fine-grained":[85],"traces,":[87],"enabling":[88],"autonomous":[89],"failure":[90],"diagnosis,":[91],"repair":[92],"synthesis,":[93],"validation;":[95],"(2)":[96],"continually":[98],"expanding":[99],"library":[101,154],"distills":[103],"validated":[104],"fixes":[105],"reusable,":[107],"transferable":[108],"knowledge;":[109],"(3)":[111],"evolutionary":[112],"search":[113],"generates":[115],"task":[117],"sequences":[118],"to":[122,133,159],"explore":[123],"beyond":[124],"single-trajectory":[125],"refinement.":[126],"surpasses":[128],"prior":[129,173],"methods":[130,174],"by":[131],"up":[132],"77%":[134],"on":[135,141,147,163],"LIBERO-Pro":[136,164],"manipulation":[137],"under":[138],"perturbation,":[139],"72%":[140],"Robosuite":[142],"bimanual":[143],"handover,":[144],"32%":[146],"BEHAVIOR-1K":[148],"long-horizon":[149,161],"household":[150],"tasks.":[151],"Its":[152],"accumulated":[153],"also":[155],"enables":[156],"zero-shot":[157],"generalization":[158],"unseen":[160],"tasks:":[162],"Long,":[165],"achieves":[167],"31%":[168],"success":[169],"versus":[170],"4%":[171],"for":[172],"despite":[175],"their":[176],"use":[177],"of":[178,189],"test-time":[179],"reasoning":[180],"retries.":[182],"Finally,":[183],"simulation-discovered":[184],"provide":[186],"initial":[187],"evidence":[188],"sim-to-real":[190],"transfer,":[191],"substantially":[192],"reducing":[193],"real-robot":[194],"effort":[196],"different":[198],"embodiments":[199],"APIs.":[202]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-03T00:00:00"}