# An Atomic Skill Library Construction Method for Data-Efficient Embodied Manipulation

arXiv: https://arxiv.org/abs/2501.15068 · HTML: https://mlsanity.com/paper/2501.15068/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Jan 2025.

## Built on by (most cited first, 10 of 10)

- [Vision-Language-Action Models for Robotics: A Review Towards Real-World Applications](https://mlsanity.com/paper/2510.07077/) (2025)
- [Pure Vision Language Action (VLA) Models: A Comprehensive Survey](https://mlsanity.com/paper/2509.19012/) (2025)
- [Vision Language Action Models in Robotic Manipulation: A Systematic Review](https://mlsanity.com/paper/2507.10672/) (2025)
- [A Survey on Efficient Vision-Language-Action Models](https://mlsanity.com/paper/2510.24795/) (2025)
- [Agentic Robot: A Brain-Inspired Framework for Vision-Language-Action Models in Embodied Agents](https://mlsanity.com/paper/2505.23450/) (2025)
- [CORAL: Scalable Multi-Task Robot Learning via LoRA Experts](https://mlsanity.com/paper/2603.09298/) (2026)
- [ROSA: Harnessing Robot States for Vision-Language and Action Alignment](https://mlsanity.com/paper/2506.13679/) (2025)
- [An Anatomy of Vision-Language-Action Models: From Modules to Milestones and Challenges](https://mlsanity.com/paper/2512.11362/) (2025)
- [SkillMemo: Expert-guided Skill Memory Framework for Compositional Embodied Manipulation](https://mlsanity.com/paper/2608.05970/) (2026)
- [Diagnosing Semantic Handoff Failures in Agent-Orchestrated Vision-Language-Action Skill Composition](https://mlsanity.com/paper/2607.06256/) (2026)

## Abstract (arXiv)

Embodied manipulation is a fundamental ability in the realm of embodied artificial intelligence. Although current embodied manipulation models show certain generalizations in specific settings, they struggle in new environments and tasks due to the complexity and diversity of real-world scenarios. The traditional end-to-end data collection and training manner leads to significant data demands. Decomposing end-to-end tasks into atomic skills helps reduce data requirements and improves the task success rate. However, existing methods are limited by predefined skill sets that cannot be dynamically updated. To address the issue, we introduce a three-wheeled data-driven method to build an atomic skill library. We divide tasks into subtasks using the Vision-Language-Planning (VLP). Then, atomic skill definitions are formed by abstracting the subtasks. Finally, an atomic skill library is constructed via data collection and Vision-Language-Action (VLA) fine-tuning. As the atomic skill library expands dynamically with the three-wheel update strategy, the range of tasks it can cover grows naturally. In this way, our method shifts focus from end-to-end tasks to atomic skills, significantly reducing data costs while maintaining high performance and enabling efficient adaptation to new tasks. Extensive experiments in real-world settings demonstrate the effectiveness and efficiency of our approach.