This is paper is available on arxiv under CC 4.0 DEED license. Authors: (1) Dhruv Shah, UC Berkeley and he contributed equally; (2) Michael Equi, UC Berkeley and he contributed equally; (3) Blazej Osinski, University of Warsaw; (4) Fei Xia, Google DeepMind; (5) Brian Ichter, Google DeepMind; (6) Sergey Levine, UC Berkeley and Google DeepMind. Table of Links Abstract & Introduction Related Work Problem Formulation and Overview LFG: Scoring Subgoals by Polling LLMs LLM Heuristics for Goal-Directed Exploration System Evaluation Discussion and References A. Implementation Details B. Prompts B Prompts B.1 Positive Prompt B.2 Negative Prompt This is paper is available on arxiv under CC 4.0 DEED license. Authors: (1) Dhruv Shah, UC Berkeley and he contributed equally; (2) Michael Equi, UC Berkeley and he contributed equally; (3) Blazej Osinski, University of Warsaw; (4) Fei Xia, Google DeepMind; (5) Brian Ichter, Google DeepMind; (6) Sergey Levine, UC Berkeley and Google DeepMind. This is paper is available on arxiv under CC 4.0 DEED license. Authors: Authors: (1) Dhruv Shah, UC Berkeley and he contributed equally; (2) Michael Equi, UC Berkeley and he contributed equally; (3) Blazej Osinski, University of Warsaw; (4) Fei Xia, Google DeepMind; (5) Brian Ichter, Google DeepMind; (6) Sergey Levine, UC Berkeley and Google DeepMind. Table of Links Abstract & Introduction Related Work Problem Formulation and Overview LFG: Scoring Subgoals by Polling LLMs LLM Heuristics for Goal-Directed Exploration System Evaluation Discussion and References A. Implementation Details B. Prompts Abstract & Introduction Abstract & Introduction Related Work Related Work Problem Formulation and Overview Problem Formulation and Overview LFG: Scoring Subgoals by Polling LLMs LFG: Scoring Subgoals by Polling LLMs LLM Heuristics for Goal-Directed Exploration LLM Heuristics for Goal-Directed Exploration System Evaluation System Evaluation Discussion and References Discussion and References A. Implementation Details A. Implementation Details B. Prompts B. Prompts B Prompts B.1 Positive Prompt B.2 Negative Prompt