@article{lambertlanguageandactionlearningusing,
  title = {lamBERT: Language and Action Learning Using Multimodal BERT},
  author = {Kazuki Miyazawa and Tatsuya Aoki and Takato Horii and Takayuki Nagai},
  year = {2020},
  eprint = {2004.07093},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2004.07093v1},
}