@article{apersistentspatialsemanticrepresentation,
  title = {A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution},
  author = {Valts Blukis and Chris Paxton and Dieter Fox and Animesh Garg and Yoav Artzi},
  year = {2021},
  eprint = {2107.05612},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2107.05612v3},
}