Vivek Myers Andre Wang He Kuan Fang Homer Rich Walke Philippe Hansen-Estruch Ching-An Cheng Mihai Jalobeanu Andrey Kolobov Anca D. Dragan Sergey Levine Goal Representations for Instruction Following: A Semi-Supervised Language Interface to Control. 3894-3908 2023 CoRL https://proceedings.mlr.press/v229/myers23a.html conf/corl/2023 db/conf/corl/corl2023.html#MyersHFWHCJKDL23