# Bootstrap Your Own Skills: Learning to Solve New Tasks with Large Language Model Guidance

arXiv: https://arxiv.org/abs/2310.10021 · HTML: https://mlsanity.com/paper/2310.10021/

## Key facts

- Cited by 86 papers in the map (data through 14 Oct 2026).
- Placed in Self-evolving LLM agents, one of 13 directions in Synthetic data and self-improvement for LLMs.
- Builds on 58 of its 69 references that are in the map.
- First posted on arXiv 16 Oct 2023.

## Placed in

- Synthetic data and self-improvement for LLMs / [Self-evolving LLM agents](https://mlsanity.com/synth/self-evolving-llm-agents/)

## Builds on (most cited first, 30 of 58)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Sentence-BERT: Sentence Embeddings using Siamese BERT-Networks](https://mlsanity.com/paper/1908.10084/) (2019)
- [Layer Normalization](https://mlsanity.com/paper/1607.06450/) (2016)
- [OPT: Open Pre-trained Transformer Language Models](https://mlsanity.com/paper/2205.01068/) (2022)
- [Scaling Instruction-Finetuned Language Models](https://mlsanity.com/paper/2210.11416/) (2022)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [Offline Reinforcement Learning with Implicit Q-Learning](https://mlsanity.com/paper/2110.06169/) (2021)
- [Curiosity-driven Exploration by Self-supervised Prediction](https://mlsanity.com/paper/1705.05363/) (2017)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [LLM.int8(): 8-bit Matrix Multiplication for Transformers at Scale](https://mlsanity.com/paper/2208.07339/) (2022)
- [Deep Reinforcement Learning at the Edge of the Statistical Precipice](https://mlsanity.com/paper/2108.13264/) (2021)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [Advantage-Weighted Regression: Simple and Scalable Off-Policy Reinforcement Learning](https://mlsanity.com/paper/1910.00177/) (2019)
- [Diversity is All You Need: Learning Skills without a Reward Function](https://mlsanity.com/paper/1802.06070/) (2018)
- [QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation](https://mlsanity.com/paper/1806.10293/) (2018)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning](https://mlsanity.com/paper/2202.02005/) (2022)
- [The Option-Critic Architecture](https://mlsanity.com/paper/1609.05140/) (2016)
- [LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action](https://mlsanity.com/paper/2207.04429/) (2022)
- [Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning](https://mlsanity.com/paper/1910.11956/) (2019)
- [Planning to Explore via Self-Supervised World Models](https://mlsanity.com/paper/2005.05960/) (2020)
- [Efficient Online Reinforcement Learning with Offline Data](https://mlsanity.com/paper/2302.02948/) (2023)
- [Dynamics-Aware Unsupervised Discovery of Skills](https://mlsanity.com/paper/1907.01657/) (2019)
- [Variational Intrinsic Control](https://mlsanity.com/paper/1611.07507/) (2016)
- [Bridge Data: Boosting Generalization of Robotic Skills with Cross-Domain Datasets](https://mlsanity.com/paper/2109.13396/) (2021)

## Built on by (most cited first, 30 of 86)

- [Personal LLM Agents: Insights and Survey about the Capability, Efficiency and Security](https://mlsanity.com/paper/2401.05459/) (2024)
- [Large Multimodal Agents: A Survey](https://mlsanity.com/paper/2402.15116/) (2024)
- [Vision Language Models are In-Context Value Learners](https://mlsanity.com/paper/2411.04549/) (2024)
- [DrEureka: Language Model Guided Sim-To-Real Transfer](https://mlsanity.com/paper/2406.01967/) (2024)
- [Manipulate-Anything: Automating Real-World Robots using Vision-Language Models](https://mlsanity.com/paper/2406.18915/) (2024)
- [Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning](https://mlsanity.com/paper/2407.01531/) (2024)
- [Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics Tasks](https://mlsanity.com/paper/2405.01534/) (2024)
- [Proposer-Agent-Evaluator(PAE): Autonomous Skill Discovery For Foundation Model Internet Agents](https://mlsanity.com/paper/2412.13194/) (2024)
- [Long-VLA: Unleashing Long-Horizon Capability of Vision Language Action Model for Robot Manipulation](https://mlsanity.com/paper/2508.19958/) (2025)
- [Code as Agent Harness](https://mlsanity.com/paper/2605.18747/) (2026)
- [On the Prospects of Incorporating Large Language Models (LLMs) in Automated Planning and Scheduling (APS)](https://mlsanity.com/paper/2401.02500/) (2024)
- [RL-GPT: Integrating Reinforcement Learning and Code-as-policy](https://mlsanity.com/paper/2402.19299/) (2024)
- [CAST: Counterfactual Labels Improve Instruction Following in Vision-Language-Action Models](https://mlsanity.com/paper/2508.13446/) (2025)
- [A Survey of Personalization: From RAG to Agent](https://mlsanity.com/paper/2504.10147/) (2025)
- [FuRL: Visual-Language Models as Fuzzy Rewards for Reinforcement Learning](https://mlsanity.com/paper/2406.00645/) (2024)
- [Latent Reward: LLM-Empowered Credit Assignment in Episodic Reinforcement Learning](https://mlsanity.com/paper/2412.11120/) (2024)
- [Local Policies Enable Zero-shot Long-horizon Manipulation](https://mlsanity.com/paper/2410.22332/) (2024)
- [AIC MLLM: Autonomous Interactive Correction MLLM for Robust Robotic Manipulation](https://mlsanity.com/paper/2406.11548/) (2024)
- [Steerable Vision-Language-Action Policies for Embodied Reasoning and Hierarchical Control](https://mlsanity.com/paper/2602.13193/) (2026)
- [A Survey of Continual Reinforcement Learning](https://mlsanity.com/paper/2506.21872/) (2025)
- [Eurekaverse: Environment Curriculum Generation via Large Language Models](https://mlsanity.com/paper/2411.01775/) (2024)
- [AnyBimanual: Transferring Unimanual Policy for General Bimanual Manipulation](https://mlsanity.com/paper/2412.06779/) (2024)
- [Enhancing Rating-Based Reinforcement Learning to Effectively Leverage Feedback from Large Vision-Language Models](https://mlsanity.com/paper/2506.12822/) (2025)
- [LiFT: Unsupervised Reinforcement Learning with Foundation Models as Teachers](https://mlsanity.com/paper/2312.08958/) (2023)
- [Mitigating Forgetting in LLM Fine-Tuning via Low-Perplexity Token Learning](https://mlsanity.com/paper/2501.14315/) (2025)
- [LLMs with Industrial Lens: Deciphering the Challenges and Prospects -- A Survey](https://mlsanity.com/paper/2402.14558/) (2024)
- [RLingua: Improving Reinforcement Learning Sample Efficiency in Robotic Manipulations With Large Language Models](https://mlsanity.com/paper/2403.06420/) (2024)
- [Automated Skill Discovery for Language Agents through Exploration and Iterative Feedback](https://mlsanity.com/paper/2506.04287/) (2025)
- [PEEK: Guiding and Minimal Image Representations for Zero-Shot Generalization of Robot Manipulation Policies](https://mlsanity.com/paper/2509.18282/) (2025)
- [Language-guided Skill Learning with Temporal Variational Inference](https://mlsanity.com/paper/2402.16354/) (2024)

## Abstract (arXiv)

We propose BOSS, an approach that automatically learns to solve new long-horizon, complex, and meaningful tasks by growing a learned skill library with minimal supervision. Prior work in reinforcement learning require expert supervision, in the form of demonstrations or rich reward functions, to learn long-horizon tasks. Instead, our approach BOSS (BOotStrapping your own Skills) learns to accomplish new tasks by performing "skill bootstrapping," where an agent with a set of primitive skills interacts with the environment to practice new skills without receiving reward feedback for tasks outside of the initial skill set. This bootstrapping phase is guided by large language models (LLMs) that inform the agent of meaningful skills to chain together. Through this process, BOSS builds a wide range of complex and useful behaviors from a basic set of primitive skills. We demonstrate through experiments in realistic household environments that agents trained with our LLM-guided bootstrapping procedure outperform those trained with naive bootstrapping as well as prior unsupervised skill acquisition methods on zero-shot execution of unseen, long-horizon tasks in new environments. Website at clvrai.com/boss.