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Abstract: In this paper, we review Icarus, a cognitive architecture that utilizes hierarchical skills and concepts for reactive execution in physical environments. In addition, we present two extensions to the framework. The first involves the incorporation of means-ends analysis, which lets the system compose known skills to solve novel problems. The second involves the storage of new skills that are based on successful means-ends traces. We report experimental studies of these mechanisms on three distinct domains. Our results suggest that the two methods interact to acquire useful skill hierarchies that generalize well and that reduce the effort required to handle new tasks. We conclude with a discussion of related work on learning and prospects for additional research, including extending the framework to cover developmental phenomena. [Copyright &y& Elsevier]