# Efficient Skill Grounding via Code Refactoring with Small Language Models

arXiv: https://arxiv.org/abs/2606.07999 · HTML: https://mlsanity.com/paper/2606.07999/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 42 of its 53 references that are in the map.
- First posted on arXiv 6 Jun 2026.

## Builds on (most cited first, 30 of 42)

- [Evaluating Large Language Models Trained on Code](https://mlsanity.com/paper/2107.03374/) (2021)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [HuggingFace's Transformers: State-of-the-art Natural Language Processing](https://mlsanity.com/paper/1910.03771/) (2019)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [Code Llama: Open Foundation Models for Code](https://mlsanity.com/paper/2308.12950/) (2023)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Qwen2.5-Coder Technical Report](https://mlsanity.com/paper/2409.12186/) (2024)
- [DeepSeek-Coder: When the Large Language Model Meets Programming -- The Rise of Code Intelligence](https://mlsanity.com/paper/2401.14196/) (2024)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [SAM 3: Segment Anything with Concepts](https://mlsanity.com/paper/2511.16719/) (2025)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [RLBench: The Robot Learning Benchmark & Learning Environment](https://mlsanity.com/paper/1909.12271/) (2019)
- [Learning To Retrieve Prompts for In-Context Learning](https://mlsanity.com/paper/2112.08633/) (2021)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [VIMA: General Robot Manipulation with Multimodal Prompts](https://mlsanity.com/paper/2210.03094/) (2022)
- [DeepSeek-Coder-V2: Breaking the Barrier of Closed-Source Models in Code Intelligence](https://mlsanity.com/paper/2406.11931/) (2024)
- [Efficient Training of Language Models to Fill in the Middle](https://mlsanity.com/paper/2207.14255/) (2022)
- [RepairAgent: An Autonomous, LLM-Based Agent for Program Repair](https://mlsanity.com/paper/2403.17134/) (2024)
- [RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation](https://mlsanity.com/paper/2311.01455/) (2023)
- [CodeGemma: Open Code Models Based on Gemma](https://mlsanity.com/paper/2406.11409/) (2024)
- [A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms](https://mlsanity.com/paper/1907.03146/) (2019)
- [Structured Chain-of-Thought Prompting for Code Generation](https://mlsanity.com/paper/2305.06599/) (2023)
- [Instruct2Act: Mapping Multi-modality Instructions to Robotic Actions with Large Language Model](https://mlsanity.com/paper/2305.11176/) (2023)
- [Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation](https://mlsanity.com/paper/2408.11812/) (2024)
- [The Surprising Effectiveness of Test-Time Training for Few-Shot Learning](https://mlsanity.com/paper/2411.07279/) (2024)
- [XSkill: Cross Embodiment Skill Discovery](https://mlsanity.com/paper/2307.09955/) (2023)
- [RoboCodeX: Multimodal Code Generation for Robotic Behavior Synthesis](https://mlsanity.com/paper/2402.16117/) (2024)
- [Demo2Code: From Summarizing Demonstrations to Synthesizing Code via Extended Chain-of-Thought](https://mlsanity.com/paper/2305.16744/) (2023)
- [Open-Ended Instructable Embodied Agents with Memory-Augmented Large Language Models](https://mlsanity.com/paper/2310.15127/) (2023)
- [QiMeng-CodeV-R1: Reasoning-Enhanced Verilog Generation](https://mlsanity.com/paper/2505.24183/) (2025)

## Abstract (arXiv)

Effective skill grounding is essential for deploying reusable skills in embodied agents, as even minor embodiment or environmental differences can render an entire skill incompatible. This challenge is particularly pronounced in embodied settings, where agents must operate in dynamic, partially observable environments without access to large language models (LLMs). In this setting, reliance on LLMs is impractical, while small language models (sLMs) remain insufficient for the effective skill grounding required for reliable long-horizon control. We present RECENT, a refactoring-centric agent framework that enables efficient skill grounding with sLMs by decoupling skill semantics from embodiment- and environment-specific execution binding. By representing skills as executable code, RECENT preserves the semantic intent encoded in a skill's control structure while grounding it by modifying only execution bindings through localized refactoring, rather than regenerating code from scratch. We evaluate RECENT across diverse skill grounding scenarios spanning multiple robot embodiments in dynamic environments, demonstrating robust long-horizon performance when deployed with an sLM. Across all scenarios, RECENT achieves the best performance among sLM-based Code-as-Policies (CaP) methods and matches the task performance of LLM-based CaP.