Liang, Xiwen, Fengda Zhu, Yi Zhu, Bingqian Lin, Bing Wang, and Xiaodan Liang. 2022. “Contrastive Instruction-Trajectory Learning for Vision-Language Navigation”. Proceedings of the AAAI Conference on Artificial Intelligence 36 (2):1592-1600. https://doi.org/10.1609/aaai.v36i2.20050.