@article{kefaaknowledgeenhancedandfinegrained,
  title = {Kefa: A Knowledge Enhanced and Fine-grained Aligned Speaker for Navigation Instruction Generation},
  author = {Haitian Zeng and Xiaohan Wang and Wenguan Wang and Yi Yang},
  year = {2023},
  eprint = {2307.13368},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2307.13368v1},
}