Part 1-2

Forward & Backward Skill Compatibility

Structured streamDemonstrations arrive as short, behavior-aligned segments, while their organizing labels remain hidden from the agent.

Backward compatibilityLater skill updates give the initial policy +42.5 BWT, and SIL-C leads overall performance at 54.1 AUC.

SIL-C · Table 1 · Kitchen Explicit SIL