ResearchResearch paperReinforcement Learning · Robotics & Embodied AI1 source · Oct 13, 2026

Socratic Skill Learning: Interleaving Teaching and Practice for Transferable Agent Skills

Agent Skills improve LLM agents by making task knowledge reusable across sessions.

Key points

  • Learning transferable Skills requires evidence about a procedure and its conditions of use, which a successful task attempt can leave untested.
  • We introduce Socratic Skill Learning (SSL), which interleaves expert teaching with Student practice.
  • To test reuse beyond the learning task, we construct SkillTransferBench, with 35 task families and 408 executable cases, pairing public variation specifications with held-out evaluation in fresh solver sessions.
  • Across three model pairs on shared families, interleaved guidance outperforms expert authoring and post-hoc teaching.

Sources (1)

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