This chapter and next chapter detail the design of skill agents employed by the decoder. During the design phase, which precedes the execution phase, skill agents are meticulously prepared for each task. Tasks and their corresponding skills are selected based on their necessity and sufficiency. As previously mentioned, a task is a term that expresses a single unit of robotic action, such as picking up or grasping, according to its purpose. A skill refers to a set of control commands used to execute that action with a specific robot.