# XSkill: Continual Learning from Experience and Skills in Multimodal Agents

arXiv: https://arxiv.org/abs/2603.12056 · HTML: https://mlsanity.com/paper/2603.12056/

## Key facts

- Cited by 75 papers in the map (data through 14 Oct 2026).
- Builds on 34 of its 41 references that are in the map.
- First posted on arXiv 12 Mar 2026.

## Builds on (most cited first, 30 of 34)

- [Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities](https://mlsanity.com/paper/2507.06261/) (2025)
- [Qwen3-VL Technical Report](https://mlsanity.com/paper/2511.21631/) (2025)
- [ExpeL: LLM Agents Are Experiential Learners](https://mlsanity.com/paper/2308.10144/) (2023)
- [DeepEyes: Incentivizing "Thinking with Images" via Reinforcement Learning](https://mlsanity.com/paper/2505.14362/) (2025)
- [Agent Workflow Memory](https://mlsanity.com/paper/2409.07429/) (2024)
- [Memory in the Age of AI Agents](https://mlsanity.com/paper/2512.13564/) (2025)
- [ReasoningBank: Scaling Agent Self-Evolving with Reasoning Memory](https://mlsanity.com/paper/2509.25140/) (2025)
- [Pixel Reasoner: Incentivizing Pixel-Space Reasoning with Curiosity-Driven Reinforcement Learning](https://mlsanity.com/paper/2505.15966/) (2025)
- [Thinking with Images for Multimodal Reasoning: Foundations, Methods, and Future Frontiers](https://mlsanity.com/paper/2506.23918/) (2025)
- [SkillWeaver: Web Agents can Self-Improve by Discovering and Honing Skills](https://mlsanity.com/paper/2504.07079/) (2025)
- [Synapse: Trajectory-as-Exemplar Prompting with Memory for Computer Control](https://mlsanity.com/paper/2306.07863/) (2023)
- [Dynamic Cheatsheet: Test-Time Learning with Adaptive Memory](https://mlsanity.com/paper/2504.07952/) (2025)
- [EvolveR: Self-Evolving LLM Agents through an Experience-Driven Lifecycle](https://mlsanity.com/paper/2510.16079/) (2025)
- [DeepEyesV2: Toward Agentic Multimodal Model](https://mlsanity.com/paper/2511.05271/) (2025)
- [WebWatcher: Breaking New Frontier of Vision-Language Deep Research Agent](https://mlsanity.com/paper/2508.05748/) (2025)
- [Inducing Programmatic Skills for Agentic Tasks](https://mlsanity.com/paper/2504.06821/) (2025)
- [Agent KB: Leveraging Cross-Domain Experience for Agentic Problem Solving](https://mlsanity.com/paper/2507.06229/) (2025)
- [Perception, Reason, Think, and Plan: A Survey on Large Multimodal Reasoning Models](https://mlsanity.com/paper/2505.04921/) (2025)
- [PyVision: Agentic Vision with Dynamic Tooling](https://mlsanity.com/paper/2507.07998/) (2025)
- [Remember Me, Refine Me: A Dynamic Procedural Memory Framework for Experience-Driven Agent Evolution](https://mlsanity.com/paper/2512.10696/) (2025)
- [FLEX: Continuous Agent Evolution via Forward Learning from Experience](https://mlsanity.com/paper/2511.06449/) (2025)
- [REDSearcher: A Scalable and Cost-Efficient Framework for Long-Horizon Search Agents](https://mlsanity.com/paper/2602.14234/) (2026)
- [MM-BrowseComp: A Comprehensive Benchmark for Multimodal Browsing Agents](https://mlsanity.com/paper/2508.13186/) (2025)
- [MMSearch-Plus: Benchmarking Provenance-Aware Search for Multimodal Browsing Agents](https://mlsanity.com/paper/2508.21475/) (2025)
- [TIR-Bench: A Comprehensive Benchmark for Agentic Thinking-with-Images Reasoning](https://mlsanity.com/paper/2511.01833/) (2025)
- [MemVerse: Multimodal Memory for Lifelong Learning Agents](https://mlsanity.com/paper/2512.03627/) (2025)
- [Beyond Seeing: Evaluating Multimodal LLMs on Tool-Enabled Image Perception, Transformation, and Reasoning](https://mlsanity.com/paper/2510.12712/) (2025)
- [AgentVista: Evaluating Multimodal Agents in Ultra-Challenging Realistic Visual Scenarios](https://mlsanity.com/paper/2602.23166/) (2026)
- [Agent-X: Evaluating Deep Multimodal Reasoning in Vision-Centric Agentic Tasks](https://mlsanity.com/paper/2505.24876/) (2025)
- [Thinking with Programming Vision: Towards a Unified View for Thinking with Images](https://mlsanity.com/paper/2512.03746/) (2025)

## Built on by (most cited first, 30 of 75)

- [Trace2Skill: Distill Trajectory-Local Lessons into Transferable Agent Skills](https://mlsanity.com/paper/2603.25158/) (2026)
- [Agent-World: Scaling Real-World Environment Synthesis for Evolving General Agent Intelligence](https://mlsanity.com/paper/2604.18292/) (2026)
- [SkillRet: A Large-Scale Benchmark for Skill Retrieval in LLM Agents](https://mlsanity.com/paper/2605.05726/) (2026)
- [Skill1: Unified Evolution of Skill-Augmented Agents via Reinforcement Learning](https://mlsanity.com/paper/2605.06130/) (2026)
- [ClawsBench: Evaluating Capability and Safety of LLM Productivity Agents in Simulated Workspaces](https://mlsanity.com/paper/2604.05172/) (2026)
- [SkillRevise: Improving LLM-Authored Agent Skills via Trace-Conditioned Skill Revision](https://mlsanity.com/paper/2606.01139/) (2026)
- [GEMS: Agent-Native Multimodal Generation with Memory and Skills](https://mlsanity.com/paper/2603.28088/) (2026)
- [A Comprehensive Survey on Agent Skills: Taxonomy, Techniques, and Applications](https://mlsanity.com/paper/2605.07358/) (2026)
- [GUI Agents for Continual Game Generation](https://mlsanity.com/paper/2605.28258/) (2026)
- [EmbodiSkill: Skill-Aware Reflection for Self-Evolving Embodied Agents](https://mlsanity.com/paper/2605.10332/) (2026)
- [MMSkills: Towards Multimodal Skills for General Visual Agents](https://mlsanity.com/paper/2605.13527/) (2026)
- [SkillDAG: Self-Evolving Typed Skill Graphs for LLM Skill Selection at Scale](https://mlsanity.com/paper/2606.03056/) (2026)
- [Evo-Harness: Context-to-Harness Skill Compilation for Self-Evolving Agents](https://mlsanity.com/paper/2608.15071/) (2026)
- [Co-Evolving LLM Decision and Skill Bank Agents for Long-Horizon Tasks](https://mlsanity.com/paper/2604.20987/) (2026)
- [Skill-R1: Agent Skill Evolution via Reinforcement Learning](https://mlsanity.com/paper/2605.09359/) (2026)
- [Agent Skill Evaluation and Evolution: Frameworks and Benchmarks](https://mlsanity.com/paper/2606.11435/) (2026)
- [SCOPE: Structured Decomposition and Conditional Skill Orchestration for Complex Image Generation](https://mlsanity.com/paper/2605.08043/) (2026)
- [AtlasVA: Self-Evolving Visual Skill Memory for Teacher-Free VLM Agents](https://mlsanity.com/paper/2605.17933/) (2026)
- [VideoWeaver: Evaluating and Evolving Skills for Agentic Long Video Generation](https://mlsanity.com/paper/2606.08091/) (2026)
- [SkillCAT: Contrastive, Assessment-Augmented and Topology-AwareSkill Self-Evolution for LLM Agents](https://mlsanity.com/paper/2606.13317/) (2026)
- [Rethinking Self-Evolving Agent Skills: Feedback Dynamics over Multiple Rounds](https://mlsanity.com/paper/2608.02636/) (2026)
- [SkillFlow: Flow-Driven Recursive Skill Evolution for Agentic Orchestration](https://mlsanity.com/paper/2605.14089/) (2026)
- [SkillSmith: Co-Evolving Skills and Tools for Self-Improving Agent Systems](https://mlsanity.com/paper/2606.01314/) (2026)
- [COMFYCLAW: Self-Evolving Skill Harnesses for Image Generation Workflows](https://mlsanity.com/paper/2607.01709/) (2026)
- [Dynamic Agent Skills: A Lifecycle Survey and Taxonomy of Evolving Skill Libraries](https://mlsanity.com/paper/2607.10113/) (2026)
- [AgentStream: How Well Do Self-Evolving LLM Agents Perform Under Streaming Tasks?](https://mlsanity.com/paper/2608.00155/) (2026)
- [On the Fragility of Self-Improving Agents: Variance, Task Order, and Underspecification](https://mlsanity.com/paper/2608.18066/) (2026)
- [GeoBrowse: A Geolocation Benchmark for Agentic Tool Use with Expert-Annotated Reasoning Traces](https://mlsanity.com/paper/2604.04017/) (2026)
- [PhotoCraft: Agentic Reasoning with Hierarchical Self-Evolving Memory for Deep Image Search](https://mlsanity.com/paper/2606.03099/) (2026)
- [Online Skill Learning for Web Agents via State-Grounded Dynamic Retrieval](https://mlsanity.com/paper/2606.04391/) (2026)

## Abstract (arXiv)

Multimodal agents can now tackle complex reasoning tasks with diverse tools, yet they still suffer from inefficient tool use and inflexible orchestration in open-ended settings. A central challenge is enabling such agents to continually improve without parameter updates by learning from past trajectories. We identify two complementary forms of reusable knowledge essential for this goal: experiences, providing concise action-level guidance for tool selection and decision making, and skills, providing structured task-level guidance for planning and tool use. To this end, we propose XSkill, a dual-stream framework for continual learning from experience and skills in multimodal agents. XSkill grounds both knowledge extraction and retrieval in visual observations. During accumulation, XSkill distills and consolidates experiences and skills from multi-path rollouts via visually grounded summarization and cross-rollout critique. During inference, it retrieves and adapts this knowledge to the current visual context and feeds usage history back into accumulation to form a continual learning loop. Evaluated on five benchmarks across diverse domains with four backbone models, XSkill consistently and substantially outperforms both tool-only and learning-based baselines. Further analysis reveals that the two knowledge streams play complementary roles in influencing the reasoning behaviors of agents and show superior zero-shot generalization.