Self-driven Grounding: Large Language Model Agents with Automatical
  Language-aligned Skill Learning
Shaohui Peng Xing Hu Qi Yi Rui Zhang Jiaming Guo Di Huang Zikang Tian Ruizhi Chen Zidong Du Qi Guo Yunji Chen Ling Li
Large language models (LLMs) show their powerful automatic reasoning and
planning capability with a wealth of semantic knowledge about the human world.
However, the grounding problem still hinders the applications of LLMs in the
real-world environment. Existing studies try to fine-tune the LLM or utilize
pre-defined behavior APIs to bridge the LLMs and the environment, which not
only costs huge human efforts to customize for every single task but also
weakens the generality strengths of LLMs. To autonomously ground the LLM onto
the environment, we proposed the Self-Driven Grounding (SDG) framework to
automatically and progressively ground the LLM with self-driven skill learning.
SDG first employs the LLM to propose the hypothesis of sub-goals to achieve
tasks and then verify the feasibility of the hypothesis via interacting with
the underlying environment. Once verified, SDG can then learn generalized
skills with the guidance of these successfully grounded subgoals. These skills
can be further utilized to accomplish more complex tasks which fail to pass the
verification phase. Verified in the famous instruction following task
set-BabyAI, SDG achieves comparable performance in the most challenging tasks
compared with imitation learning methods that cost millions of demonstrations,
proving the effectiveness of learned skills and showing the feasibility and
efficiency of our framework.