Before revision:  We propose a modular architecture for following natural language instructions that describe sequences of diverse subgoals , such as navigating to landmarks or picking up objects.
After revision: Standard architectures used in instruction following often struggle on novel compositions of subgoals (e.g. navigating to landmarks or picking up objects) observed during training. We propose a modular architecture for following natural language instructions that describe sequences of diverse subgoals , such as navigating to landmarks or picking up objects.