Modern automation systems increasingly rely on modular architectures, with capabilities and skills as one solution approach. Capabilities define the functions of resources in a machine-readable form and skills provide the concrete implementations that realize those capabilities. However, the development of a skill implementation conforming to a corresponding capability remains a time-consuming and challenging task. In this paper, we present a method that treats capabilities as contracts for skill implementations and leverages large language models to generate executable code based on natural language user input. A key feature of our approach is the integration of existing software libraries and interface technologies, enabling the generation of skill implementations across different target languages. We introduce a framework that allows users to incorporate their own libraries and resource interfaces into the code generation process through a retrieval-augmented generation architecture. The proposed method is evaluated using an autonomous mobile robot controlled via Python and ROS 2, demonstrating the feasibility and flexibility of the approach.
View on arXiv@article{silva2025_2505.03295,
title={ Capability-Driven Skill Generation with LLMs: A RAG-Based Approach for Reusing Existing Libraries and Interfaces },
author={ Luis Miguel Vieira da Silva and Aljosha Köcher and Nicolas König and Felix Gehlhoff and Alexander Fay },
journal={arXiv preprint arXiv:2505.03295},
year={ 2025 }
}