Learning New Tasks via Reusable Skills: Skill-Compositional Experts for Embodied Continual Learning
SCE is a Skill-Compositional Experts framework for embodied continual learning that addresses catastrophic forgetting by viewing tasks as compositions of reusable skills. It uses Compositional Skill Grounding to build a skill base and Dual Execution-and-Transition Experts to dynamically balance skill execution with cross-skill transitions, leading to lower forgetting and better generalization.