audit on object by user in Oracle

Is there some way to audit, for example, a select in a specific table just by one specified user? something like this:

audit select on foo.table by soe;

this command return:

ERROR at line 1:ORA-01708: ACCESS or SESSION expected

also, it's not possible using the suggestion:

audit select on foo.table by session by soe;ERROR at line 1:ORA-00933: SQL command not properly ended