Jointly Learning Predicates and Actions Enables Zero-Shot Skill Composition

ArXi:2605.20648v1 Announce Type: cross Learning from nstration (LfD) enables robots to. Modern generative policies model distributions over action trajectories alone, thus are unable to reason about the symbolic outcomes required for robust composition. We propose that skills should jointly model action trajectories and the symbolic outcomes they induce. To address this gap, we