Robust Navigation with Language Pretraining and Stochastic Sampling Xiujun Li author Chunyuan Li author Qiaolin Xia author Yonatan Bisk author Asli Celikyilmaz author Jianfeng Gao author Noah A Smith author Yejin Choi author 2019-11 text Proceedings of the 2019 Conference on Empirical Methods in Natural Language Processing and the 9th International Joint Conference on Natural Language Processing (EMNLP-IJCNLP) Kentaro Inui editor Jing Jiang editor Vincent Ng editor Xiaojun Wan editor Association for Computational Linguistics Hong Kong, China conference publication li-etal-2019-robust 10.18653/v1/D19-1159 https://aclanthology.org/D19-1159/ 2019-11 1494 1499