ple, human attention is guided to specific objects by visibil-
ity and the present objective of crossing the road. At a neu-
rophysiological level, this process is mediated by a priority
map - a neural mechanism that guides attention by matching
low-level signals on salient objects with high-level signals
on task goals. Prioritisation in humans is enhanced by com-
bining multimodal signals and integration between linguis-
tic and visual information [29, 4]. The ability to prioritise
improves as experience of situations and knowledge of en-
vironments increases [41, 36].
APriorityMapforVision-and-LanguageNavigation withTrajectoryPlansandFeature-LocationCues