Abstract

We introduce Voyager, the first LLM-powered embodied lifelong learning agent in Minecraft that continuously explores the world, acquires diverse skills, and makes novel discoveries without human intervention. Voyager consists of three key components: 1) an automatic curriculum that maximizes exploration, 2) an ever-growing skill library of executable code for storing and retrieving complex behaviors, and 3) a new iterative prompting mechanism that incorporates environment feedback, execution errors, and self-verification for program improvement. Voyager interacts with GPT-4 via blackbox queries, which bypasses the need for model parameter fine-tuning. The skills developed by Voyager are temporally extended, interpretable, and compositional, which compounds the agent's abilities rapidly and alleviates catastrophic forgetting. Empirically, Voyager shows strong in-context lifelong learning capability and exhibits exceptional proficiency in playing Minecraft. It obtains 3.3x more unique items, travels 2.3x longer distances, and unlocks key tech tree milestones up to 15.3x faster than prior SOTA. Voyager is able to utilize the learned skill library in a new Minecraft world to solve novel tasks from scratch, while other techniques struggle to generalize.

Voyager discovers new Minecraft items and skills continually by self-driven exploration, significantly outperforming the baselines.

Introduction

Building generally capable embodied agents that continuously explore, plan, and develop new skills in open-ended worlds is a grand challenge for the AI community. Classical approaches employ reinforcement learning (RL) and imitation learning that operate on primitive actions, which could be challenging for systematic exploration, interpretability, and generalization. Recent advances in large language model (LLM) based agents harness the world knowledge encapsulated in pre-trained LLMs to generate consistent action plans or executable policies. They are applied to embodied tasks like games and robotics, as well as NLP tasks without embodiment. However, these agents are not lifelong learners that can progressively acquire, update, accumulate, and transfer knowledge over extended time spans.

Let us consider Minecraft as an example. Unlike most other games studied in AI, Minecraft does not impose a predefined end goal or a fixed storyline but rather provides a unique playground with endless possibilities. An effective lifelong learning agent should have similar capabilities as human players: (1) propose suitable tasks based on its current skill level and world state, e.g., learn to harvest sand and cactus before iron if it finds itself in a desert rather than a forest; (2) refine skills based on environment feedback and commit mastered skills to memory for future reuse in similar situations (e.g. fighting zombies is similar to fighting spiders); (3) continually explore the world and seek out new tasks in a self-driven manner.

Jasar Ahmedovski Diskografija 🎯 Full HD

A unique chapter in his discography is the legendary partnership with his cousin, the equally famous Jašar Ahmedovski. Their voices, though distinct—Jašar’s slightly raspier, Jasar’s cleaner—blended perfectly.

6. "Ahmed i Jašar" (1993/1994) This collaborative album is a cornerstone of 90s folk. Songs like "Odlaziš, ne vraćaš se" (You Are Leaving, Not Returning) showcased a vocal harmony that felt familial and deep. The chemistry was undeniable; they played off each other's energy, trading verses about heartbreak and fate. This period solidified the "Ahmedovski" brand as a guarantee of quality folk music.

The early 1990s were chaotic due to the breakup of Yugoslavia, but paradoxically, this was Jasar’s most prolific and commercially successful period. People turned to emotional music as an escape from reality.

As the chaotic 90s faded into the new millennium, the folk scene shifted again toward turbo-folk and pop. Jasar Ahmedovski, however, chose evolution over revolution. He maintained his dignity, refusing to chase trends, instead refining the sound he had mastered. Jasar Ahmedovski Diskografija

7. "Tek, tek" (1998) A late-career highlight, this album is often cited by critics as his most mature work. The song "Tek, tek" is a lesson in vocal control and emotional delivery. It is a slower, more meditative record. The production was cleaner, stripping away some of the cluttered synthesizers of the early 90s to let his voice shine through. It felt like a man looking back at his life with wisdom rather than regret.

8. The New Millennium Albums ("Uživo" and Compilations) In the 2000s, Jasar’s discography shifted toward live albums (Uživo) and compilations. His presence at kafanas (taverns) became the stuff of legend. His live recordings captured the atmosphere of the Balkan nightlife—the clinking of glasses, the chorus of the audience singing along. These albums were less about new hits and more about documenting the communal experience of his music.

9. "Zlatni hitovi" and Legacy Eventually, the studio albums slowed down, replaced by "Best of" collections that testify to the sheer volume of hits he produced. A Jasar Ahmedovski compilation is a staple in almost every Balkan household, played at weddings, funerals, and Sunday family lunches alike. A unique chapter in his discography is the

This was the last album released while he was alive. The song Hladno proljeće (Cold Spring) feels eerily prophetic given his passing. His voice sounds weary, almost resigned.

Jasar Ahmedovski died on June 23, 1994, in a car accident near Strumica. This album was ready for distribution at the time of his death.

Released just before the violent breakup of Yugoslavia, this album carries a heavy, prophetic weight. The production is slightly darker. Pesme moje, tužne ste mi dosta is a meta-song about his own profession—singing sad songs for a living. "Ahmed i Jašar" (1993/1994) This collaborative album is

This was the debut studio album that started it all. While not an instant commercial smash at the very second of release, the title track quickly became an anthem. The album set the sonic template: melancholic accordion, crisp synthesizers (a hallmark of late 80s folk), and Jasar’s vulnerable vocal delivery. Key tracks include:

This debut cassette album is the holy grail for collectors. Released under the label PGP-RTB, the sound is modest, but the vocal delivery is astonishingly mature.

A unique chapter in his discography is the legendary partnership with his cousin, the equally famous Jašar Ahmedovski. Their voices, though distinct—Jašar’s slightly raspier, Jasar’s cleaner—blended perfectly.

6. "Ahmed i Jašar" (1993/1994) This collaborative album is a cornerstone of 90s folk. Songs like "Odlaziš, ne vraćaš se" (You Are Leaving, Not Returning) showcased a vocal harmony that felt familial and deep. The chemistry was undeniable; they played off each other's energy, trading verses about heartbreak and fate. This period solidified the "Ahmedovski" brand as a guarantee of quality folk music.

The early 1990s were chaotic due to the breakup of Yugoslavia, but paradoxically, this was Jasar’s most prolific and commercially successful period. People turned to emotional music as an escape from reality.

As the chaotic 90s faded into the new millennium, the folk scene shifted again toward turbo-folk and pop. Jasar Ahmedovski, however, chose evolution over revolution. He maintained his dignity, refusing to chase trends, instead refining the sound he had mastered.

7. "Tek, tek" (1998) A late-career highlight, this album is often cited by critics as his most mature work. The song "Tek, tek" is a lesson in vocal control and emotional delivery. It is a slower, more meditative record. The production was cleaner, stripping away some of the cluttered synthesizers of the early 90s to let his voice shine through. It felt like a man looking back at his life with wisdom rather than regret.

8. The New Millennium Albums ("Uživo" and Compilations) In the 2000s, Jasar’s discography shifted toward live albums (Uživo) and compilations. His presence at kafanas (taverns) became the stuff of legend. His live recordings captured the atmosphere of the Balkan nightlife—the clinking of glasses, the chorus of the audience singing along. These albums were less about new hits and more about documenting the communal experience of his music.

9. "Zlatni hitovi" and Legacy Eventually, the studio albums slowed down, replaced by "Best of" collections that testify to the sheer volume of hits he produced. A Jasar Ahmedovski compilation is a staple in almost every Balkan household, played at weddings, funerals, and Sunday family lunches alike.

This was the last album released while he was alive. The song Hladno proljeće (Cold Spring) feels eerily prophetic given his passing. His voice sounds weary, almost resigned.

Jasar Ahmedovski died on June 23, 1994, in a car accident near Strumica. This album was ready for distribution at the time of his death.

Released just before the violent breakup of Yugoslavia, this album carries a heavy, prophetic weight. The production is slightly darker. Pesme moje, tužne ste mi dosta is a meta-song about his own profession—singing sad songs for a living.

This was the debut studio album that started it all. While not an instant commercial smash at the very second of release, the title track quickly became an anthem. The album set the sonic template: melancholic accordion, crisp synthesizers (a hallmark of late 80s folk), and Jasar’s vulnerable vocal delivery. Key tracks include:

This debut cassette album is the holy grail for collectors. Released under the label PGP-RTB, the sound is modest, but the vocal delivery is astonishingly mature.

Conclusion

In this work, we introduce Voyager, the first LLM-powered embodied lifelong learning agent, which leverages GPT-4 to explore the world continuously, develop increasingly sophisticated skills, and make new discoveries consistently without human intervention. Voyager exhibits superior performance in discovering novel items, unlocking the Minecraft tech tree, traversing diverse terrains, and applying its learned skill library to unseen tasks in a newly instantiated world. Voyager serves as a starting point to develop powerful generalist agents without tuning the model parameters.

Media Coverage

"They Plugged GPT-4 Into Minecraft—and Unearthed New Potential for AI. The bot plays the video game by tapping the text generator to pick up new skills, suggesting that the tech behind ChatGPT could automate many workplace tasks." - Will Knight, WIRED

"The Voyager project shows, however, that by pairing GPT-4’s abilities with agent software that stores sequences that work and remembers what does not, developers can achieve stunning results." - John Koetsier, Forbes

"Voyager, the GTP-4 bot that plays Minecraft autonomously and better than anyone else" - Ruetir

"This AI used GPT-4 to become an expert Minecraft player" - Devin Coldewey, TechCrunch

Coverage Index: [Atmarkit] [Career Engine] [Crast.net] [Daily Top Feeds] [Entrepreneur en Espanol] [Finance Jxyuging] [Forbes] [Forbes Argentina] [Gaming Deputy] [Gearrice] [Haberik] [Head Topics] [InfoQ] [ITmedia News] [Mark Tech Post] [Medium] [MSN] [Note] [Noticias de Hoy] [Ruetir] [Stock HK] [Tech Tribune France] [TechCrunch] [TechBeezer] [Toutiao] [US Times Post] [VN Explorer] [WIRED] [Zaker]

Team

Guanzhi Wang

Yuqi Xie

Yunfan Jiang^*

Ajay Mandlekar^*

Chaowei Xiao

Yuke Zhu

Linxi "Jim" Fan^†

Anima Anandkumar^†

* Equal Contribution † Equal Advising

BibTeX

@article{wang2023voyager,
  title   = {Voyager: An Open-Ended Embodied Agent with Large Language Models},
  author  = {Guanzhi Wang and Yuqi Xie and Yunfan Jiang and Ajay Mandlekar and Chaowei Xiao and Yuke Zhu and Linxi Fan and Anima Anandkumar},
  year    = {2023},
  journal = {arXiv preprint arXiv: Arxiv-2305.16291}
}