# SkiROS2: A skill-based Robot Control Platform for ROS

arXiv: https://arxiv.org/abs/2306.17030 · HTML: https://mlsanity.com/paper/2306.17030/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 36 references that are in the map.
- First posted on arXiv 29 Jun 2023.

## Builds on (most cited first, 10 of 10)

- [Behavior Trees in Robotics and AI: An Introduction](https://mlsanity.com/paper/1709.00084/) (2017)
- [A Survey of Behavior Trees in Robotics and AI](https://mlsanity.com/paper/2005.05842/) (2020)
- [CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision](https://mlsanity.com/paper/1611.06145/) (2016)
- [Visual Robot Task Planning](https://mlsanity.com/paper/1804.00062/) (2018)
- [Skill-based Multi-objective Reinforcement Learning of Industrial Robot Tasks with Planning and Knowledge Integration](https://mlsanity.com/paper/2203.10033/) (2022)
- [Learning Skill-based Industrial Robot Tasks with User Priors](https://mlsanity.com/paper/2208.01605/) (2022)
- [Learning to Adapt the Parameters of Behavior Trees and Motion Generators (BTMGs) to Task Variations](https://mlsanity.com/paper/2303.08209/) (2023)
- [Combining Planning, Reasoning and Reinforcement Learning to solve Industrial Robot Tasks](https://mlsanity.com/paper/2212.03570/) (2022)
- [Productive Multitasking for Industrial Robots](https://mlsanity.com/paper/2108.11471/) (2021)
- [Continuous close-range 3D object pose estimation](https://mlsanity.com/paper/2010.00829/) (2020)

## Built on by (most cited first, 4 of 4)

- [Adaptable Recovery Behaviors in Robotics: A Behavior Trees and Motion Generators(BTMG) Approach for Failure Management](https://mlsanity.com/paper/2404.06129/) (2024)
- [Jointly Learning Predicates and Actions Enables Zero-Shot Skill Composition](https://mlsanity.com/paper/2605.20648/) (2026)
- [Leveraging Pre-trained Large Language Models with Refined Prompting for Online Task and Motion Planning](https://mlsanity.com/paper/2504.21596/) (2025)
- [Model-Based AI planning and Execution Systems for Robotics](https://mlsanity.com/paper/2505.04493/) (2025)

## Abstract (arXiv)

The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system architectures that can provide the required flexibility. Such architectures must not only have a sufficient knowledge integration framework. It must also support autonomous mission execution and allow for interchangeability and interoperability between different tasks and robot systems. We introduce SkiROS2, a skill-based robot control platform on top of ROS. SkiROS2 proposes a layered, hybrid control structure for automated task planning, and reactive execution, supported by a knowledge base for reasoning about the world state and entities. The scheduling formulation builds on the extended behavior tree model that merges task-level planning and execution. This allows for a high degree of modularity and a fast reaction to changes in the environment. The skill formulation based on pre-, hold- and post-conditions allows to organize robot programs and to compose diverse skills reaching from perception to low-level control and the incorporation of external tools. We relate SkiROS2 to the field and outline three example use cases that cover task planning, reasoning, multisensory input, integration in a manufacturing execution system and reinforcement learning.