@article{pretrainingforlanguageconditioned,
  title = {Pretraining for Language Conditioned Imitation with Transformers},
  author = {Aaron L Putterman and Kevin Lu and Igor Mordatch and Pieter Abbeel},
  year = {2021},
  url = {https://openreview.net/forum?id=eCPCn25gat},
}