The baseline approach is based on BIBREF20 . It divides the task of interpreting commands for behavioral navigation into two steps: path generation, and path verification. For path generation, this baseline uses a standard sequence-to-sequence model augmented with an attention mechanism, similar to BIBREF23 , BIBREF6 . For path verification, the baseline uses depth-first search to find a route in the graph that matches the sequence of predicted behaviors. If no route matches perfectly, the baseline changes up to three behaviors in the predicted sequence to try to turn it into a valid path. 
 Question: What baselines did they compare their model with?
the baseline where path generation uses a standard sequence-to-sequence model augmented with attention mechanism and path verification uses depth-first search