@article{chen2022weakly,
  title={Weakly-supervised multi-granularity map learning for vision-and-language navigation},
  author={Chen, Peihao and Ji, Dongyu and Lin, Kunyang and Zeng, Runhao and Li, Thomas H and Tan, Mingkui and Gan, Chuang},
  booktitle={{NeurIPS}},
  year={2022}
}