The paper initially states that this distance function is computed from learned embeddings of human demonstrations, however these are presumably instructions rather than demonstrations	['non', 'non', 'non', 'non', 'non', 'non', 'non', 'non', 'non', 'non', 'non', 'non', 'non', 'non', 'non', 'non', 'non', 'non', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg', 'arg']	paper quality