@article{learninglanguageconditionedrobotbehavior,
  title = {Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotation},
  author = {Suraj Nair and Eric Mitchell and Kevin Chen and Brian Ichter and Silvio Savarese and Chelsea Finn},
  year = {2021},
  eprint = {2109.01115},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.01115v2},
}