[micimize]

This was my first thought as well but I don't think it matters and was likely more a result of using real training examples than limitations of the authors. The point of the work is that regardless of perturbations that degrade or complicate clarity, their model is able to extract and enact the motions that seem most implied that would be OOD with the other methods.

So this extends to barked under-contextualized commands like at the end with "Leaps forward then stands straight" but also these looser seemingly nonsense statements like "native motions" or w/e.

The big tradeoff here is that if it seems overly permissive. It would be very annoying to be talking of a third person and have your robot start dancing due to identity parsing issues.