Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments

• URL: http://arxiv.org/abs/2004.02857v2
• Date: Fri, 1 May 2020 18:06:55 GMT
• Title: Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments
• Authors: Jacob Krantz, Erik Wijmans, Arjun Majumdar, Dhruv Batra, Stefan Lee
• Abstract summary: We develop a language-guided navigation task set in a continuous 3D environment. By being situated in continuous environments, this setting lifts a number of assumptions implicit in prior work.
• Score: 48.898567402373324
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We develop a language-guided navigation task set in a continuous 3D environment where agents must execute low-level actions to follow natural language navigation directions. By being situated in continuous environments, this setting lifts a number of assumptions implicit in prior work that represents environments as a sparse graph of panoramas with edges corresponding to navigability. Specifically, our setting drops the presumptions of known environment topologies, short-range oracle navigation, and perfect agent localization. To contextualize this new task, we develop models that mirror many of the advances made in prior settings as well as single-modality baselines. While some of these techniques transfer, we find significantly lower absolute performance in the continuous setting -- suggesting that performance in prior `navigation-graph' settings may be inflated by the strong implicit assumptions.

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