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Following natural language instructions requires transforming language into situated conditional procedures; robustly following instructions, despite the director's natural mistakes and omissions, requires the pragmatic combination of language, action, and domain knowledge. This dissertation demonstrates a software agent that parses, models and executes human-written natural language instructions to accomplish complex navigation tasks. We compare the performance against people following the same instructions. By selectively removing various syntactic, semantic, and pragmatic abilities, this work empirically measures how often these abilities are necessary to correctly navigate along extended routes through unknown, large-scale environments to novel destinations.