Before revision:  When compared to standard  sequence-to-sequence approaches on ALFRED, a challenging instruction following benchmark, we find that modularization improves generalization to  environments unseen in training and to novel tasks .
After revision:  When compared to standard sequence-to-sequence approaches on ALFRED, a challenging instruction following benchmark, we find that modularization improves generalization to novel subgoal compositions, as well as to environments unseen in training and to novel tasks .