@article{r2hbuildingmultimodalnavigationhelpers,
  title = {R2H: Building Multimodal Navigation Helpers that Respond to Help Requests},
  author = {Yue Fan and Jing Gu and Kaizhi Zheng and Xin Eric Wang},
  year = {2023},
  eprint = {2305.14260},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2305.14260v2},
}