.Cross-modal Attention.Combine Outputs Cross-modal Prioritisation.FLPM FrameworkAction SelectionPM-VLNTransformer EncoderLinguisticEmbeddingsVisualEmbeddingsClassifierFLPM Framework"There should be a purple theater banner onyour left. Go forward on this street until youcome to the first traffic light. Make a right atthe light. You should see silver gates onyour left. "Main ModelInputs ()Input ()a)b)Path TraceEmbeddingsSpansTrajectoryestimationPath traceTrajectory planFeature-levellocalisationPerspectivefrom t11096Algorithm 1 Priority Map Module

Input: Datasets Dϕ1,Dϕ2, and DϕV LN with inputs
(xl, xv) for tasks Φ.
Initial parameters in all layers at
j ∼ N ormal(µj, σj).
Θl
Output: (el, e′
v)
while not converged do

for xtri in ϕ1 do

Θ′

gP M T P

← gϕ1(Xi, Θ).

end for
end while
while not converged do
for (xli, xvi) in ϕ2 do

Θ′

gP M F

← gϕ2 (Xi, Θ).
APriorityMapforVision-and-LanguageNavigation withTrajectoryPlansandFeature-LocationCues