Zheng Dong | Search arXiv

arXiv2026

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

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 checks its prerequisites before execution and verifies the outcome afterward. A shared executable-skill interface connects high-level skill selection, bounded low-level VLA execution, and post-action verification within a single agent loop. Because this interface remains fixed, low-level VLA policies can be replaced or adapted without changing the agent loop. The interface also records planning, execution, verification, and recovery events as structured trajectories, which provide supervision for individual components and can support optional online adaptation when interactive feedback is available. We instantiate EmbodiedSkills with Qwen3-VL and OpenPI/pi0.5 on RoboTwin 2.0 and LIBERO. Task-adapted low-level VLA policies achieve an average success rate of 86.20% across 50 RoboTwin 2.0 tasks and 97.40% across the four LIBERO suites. These results establish the execution performance of the task-adapted low-level VLA policies used in EmbodiedSkills. On four memory-dependent RMBench tasks, the same task-adapted execution approach achieves 12.5% average success. The framework provides a trainable and inspectable agent layer for turning these policies into closed-loop embodied systems.

cs.RO↗

arXiv2026

Deep graph kernel point processes over networks

Point process models are widely used for continuous-time discrete-event data, where each data point includes time and additional information called "marks," such as locations, nodes, or event types. We present a new point process model for discrete-event data over networks, built upon Hawkes' classic influence-kernel formulation to capture the effects of historical events on the occurrence of future events. The key idea is to represent the influence kernel using graph neural networks (GNNs), thereby capturing the underlying graph structure while using the strong representation power of GNNs. Compared with prior work that directly models the conditional intensity function using neural networks, our kernel representation captures repeated patterns of event influence more effectively by combining statistical and deep learning models, leading to more efficient model estimation and better predictive performance. Our work significantly extends existing deep spatio-temporal kernels for point process data, which are inapplicable to our setting because their observation spaces are Euclidean rather than graph structured. We present comprehensive experiments on synthetic and real-world data to demonstrate the superior performance of the proposed approach over state-of-the-art methods in predicting future events and uncovering graph structure from the data.

stat.ML↗