and-language navigation via pre-training. In Proceedings of
the IEEE/CVF Conference on Computer Vision and Pattern
Recognition, pages 13137–13146, 2020.

[15] Keji He, Yan Huang, Qi Wu, Jianhua Yang, Dong An, Shuan-
glin Sima, and Liang Wang. Landmark-rxr: Solving vision-
and-language navigation with fine-grained alignment super-
vision. Advances in Neural Information Processing Systems,
34, 2021.
APriorityMapforVision-and-LanguageNavigation withTrajectoryPlansandFeature-LocationCues