ponents that perform feature localisation on visual inputs
have been pretrained on object detection [28, 35, 16]. In
contrast, we include visual boost filtering in gP M F to priori-
tise visual features. Our method of localising spans using a
concatenation of the enhanced visual input and cross-modal
embeddings is unique to this research.
APriorityMapforVision-and-LanguageNavigation withTrajectoryPlansandFeature-LocationCues