Environments

1000 Environments four-robot setup (unseen test)

10

environments (unseen)

7

environments (unseen)

7

Environments (Unseen)

6

environments (Seen)

6

Environments (seen)

6

Environments (seen)

6

7 Environments (AlfWorld, BabyAI, Maze, SciWorld, TextCraft, WebShop, Wordle) (held-out episodes)

5

Six Training Environments (val)

2

8 Unseen Environments

1

8 unseen environments

1

8 Unseen Environments

1

8 unseen environments

1