"STRENGTHS + Decoupling instruction-to-action mapping by introducing goals as a learned intermediate representation has advantages, particularly for goal-directed instructions" "['non', 'non', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro', 'pro']" "paper quality"