R2H: Building Multimodal Navigation Helpers that Respond to Help Requests Yue Fan author Jing Gu author Kaizhi Zheng author Xin Wang author 2023-12 text Proceedings of the 2023 Conference on Empirical Methods in Natural Language Processing Houda Bouamor editor Juan Pino editor Kalika Bali editor Association for Computational Linguistics Singapore conference publication fan-etal-2023-r2h 10.18653/v1/2023.emnlp-main.915 https://aclanthology.org/2023.emnlp-main.915/ 2023-12 14803 14819