This code is based on the repository https://github.com/mees/calvin.git, with modifications made to it. Below is the reference: @article{mees2022calvin, author = {Oier Mees and Lukas Hermann and Erick Rosete-Beas and Wolfram Burgard}, title = {CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks}, journal={IEEE Robotics and Automation Letters (RA-L)}, volume={7}, number={3}, pages={7327-7334}, year={2022} }