@article{clasplanguagedrivenrobotskillselectionan,
  title = {CLASP: Language-Driven Robot Skill Selection and Composition using Task-Parameterized Learning},
  author = {Markus Knauer and Valentin Gieraths and Tai Mai and Samuel Bustamante and Alin Albu-Schäffer and Freek Stulp and João Silvério},
  year = {2026},
  eprint = {2606.08169},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.08169},
}