[D] Large "action" models?

Hi. I'm researching instruction interpretation and complex planning for autonomous agents in dynamic environments and I have found several interesting papers, like [FILM](https://www.semanticscholar.org/reader/bef63d4f7656393b7bceb2ec704e86577c286166) and similar architecture agents.

However, it seems like a lot of modern solutions rely on language processing to break down high level tasks, for example "clean the dish and put it away" into "pick up dish, put dish into sink, use sink, pick up dish, put into storage". Specifically in linked paper, they use BERT models for …

bert bert models example language language processing machinelearning modern paper processing solutions storage tasks