Wenhao Yu 0003 Nimrod Gileadi Chuyuan Fu Sean Kirmani Kuang-Huei Lee Montserrat Gonzalez Arenas Hao-Tien Lewis Chiang Tom Erez Leonard Hasenclever Jan Humplik Brian Ichter Ted Xiao Peng Xu 0010 Andy Zeng 0001 Tingnan Zhang Nicolas Heess Dorsa Sadigh Jie Tan 0001 Yuval Tassa Fei Xia 0002 Language to Rewards for Robotic Skill Synthesis. 374-404 2023 CoRL https://proceedings.mlr.press/v229/yu23a.html conf/corl/2023 db/conf/corl/corl2023.html#0003GFKLACEHHIX23