Compass
N/A (0/3)
N/A (0/3)
N/A (0/3)
30 (2/3)
26 ± 3 (3/3)
18 ± 2 (3/3)

Figure 8: Zero-shot generalization to unseen tasks. We visualize the intermediate progress of each
method on two tasks. See Appendix, Sec. B.4.3 for the other two tasks. We do not plot ReAct and
Reflexion since they do not make any meaningful progress.
VOYAGER- An Open-Ended Embodied Agent with Large Language Models