LACMA: Language-Aligning Contrastive Learning with Meta-Actions for Embodied Instruction Following Cheng-Fu Yang author Yen-Chun Chen author Jianwei Yang author Xiyang Dai author Lu Yuan author Yu-Chiang Wang author Kai-Wei Chang author 2023-12 text Proceedings of the 2023 Conference on Empirical Methods in Natural Language Processing Houda Bouamor editor Juan Pino editor Kalika Bali editor Association for Computational Linguistics Singapore conference publication yang-etal-2023-lacma 10.18653/v1/2023.emnlp-main.77 https://aclanthology.org/2023.emnlp-main.77/ 2023-12 1203 1217