Grounded Decoding: Guiding Text Generation with Grounded Models for Embodied Agents - Huang, Wenlong; Xia, Fei; Shah, Dhruv; Driess, Danny; Zeng, Andy; Lu, Yao; Florence, Pete; Mordatch, Igor; Levine, Sergey; Hausman, Karol; ichter, brian (Advances in Neural Information Processing Systems, 2023)