Appendix A Broader Societal Impact

We introduce a new method for language-conditioned imitation learning to perform complex navigation and manipulation tasks. Our intention is for this algorithm to be used in a real-world setting where humans can provide natural language instructions to robots that can carry them out. This is the best we can do since we don't know exactly which tokens in the instruction correspond to the skills chosen. We have provided details about the levels we evaluated on below. More details can be found in the original paper.