@inproceedings{soatasceneandobjectawaretransformerfor,
  title = {SOAT: A Scene- and Object-Aware Transformer for Vision-and-Language Navigation},
  author = {Abhinav Moudgil and Arjun Majumdar and Harsh Agrawal and Stefan Lee and Dhruv Batra},
  year = {2021},
  booktitle = {NeurIPS 2021 12},
  eprint = {2110.14143},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2110.14143v1},
}