Although models that link vision, language and actions have a rich history (Tellex et al., 2011; Paul et al., 2016; Misra et al., 2017) , we will focus primarily on embodied 3D environments (Anderson et al., 2018b; , considering tasks such as visual navigation from natural language instructions (Anderson et al., 2018b) , and question answering<cite> (Das et al., 2018</cite>; Gordon et al., 2018) .