Efficient Skill Grounding via Code Refactoring with Small Language Models

arXiv:2606.07999v1 Announce Type: new Abstract: 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)