Provided are systems and methods for decomposing learned robotic activities into smaller sub-activities that can be used independently. In one example, a method may include storing simulation data comprising an activity of a robot during a training simulation performed via a robotic simulator, decompose the activity into a plurality of sub-activities that are performed by the robot during the training simulation based on changes in behavior of the robot identified within the simulation data, and generating and storing a plurality of programs for executing the plurality of sub-activities, respectively, in the storage.