All reviewers unanimously agree that this paper should be accepted to NeurIPS. The authors did a great job addressing almost all of the reviewer's concerns, leading to three reviewers increasing their score after the author response. Reviewers particularly praised the readability of the paper, the fact that the method is clearly defined, and that the authors did a good job of visually demonstrating how it works. However, the reviewers also agree that CPC|Action would be an important baseline to compare to, so I strongly encourage the authors to take the suggested improvements seriously and work towards an improved version of the paper. I am confident that the authors can make the requested changes and am recommending acceptance.