"It would be better to evaluate on one of the few common benchmarks for robot language understanding, e.g., the SAIL corpus, which considers trajectory-oriented instructions" "['arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg']" "paper quality"