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