@misc{chen2022weaklysupervised,
      title={Weakly-Supervised Multi-Granularity Map Learning for Vision-and-Language Navigation}, 
      author={Peihao Chen and Dongyu Ji and Kunyang Lin and Runhao Zeng and Thomas H. Li and Mingkui Tan and Chuang Gan},
      year={2022},
      eprint={2210.07506},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}