A temporal alignment auxiliary loss on goal and language representations improves zero-shot compositional generalization in robot instruction following.
B TRA Implementation In this section, we provide details on the implementation of temporal representation alignment (TRA) and its training process
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Temporal Representation Alignment: Successor Features Enable Emergent Compositionality in Robot Instruction Following
A temporal alignment auxiliary loss on goal and language representations improves zero-shot compositional generalization in robot instruction following.