Gabriel Magalhaes

Haoshuo Huang, Vihan Jain, Harsh Mehta et al.

Vision-and-Language Navigation (VLN) tasks such as Room-to-Room (R2R) require machine agents to interpret natural language instructions and learn to act in visually realistic environments to achieve navigation goals. The overall task requires competence in several perception problems: successful agents combine spatio-temporal, vision and language understanding to produce appropriate action sequences. Our approach adapts pre-trained vision and language representations to relevant in-domain tasks making them more effective for VLN. Specifically, the representations are adapted to solve both a cross-modal sequence alignment and sequence coherence task. In the sequence alignment task, the model determines whether an instruction corresponds to a sequence of visual frames. In the sequence coherence task, the model determines whether the perceptual sequences are predictive sequentially in the instruction-conditioned latent space. By transferring the domain-adapted representations, we improve competitive agents in R2R as measured by the success rate weighted by path length (SPL) metric.

Vihan Jain, Gabriel Magalhaes, Alexander Ku et al.

Advances in learning and representations have reinvigorated work that connects language to other modalities. A particularly exciting direction is Vision-and-Language Navigation(VLN), in which agents interpret natural language instructions and visual scenes to move through environments and reach goals. Despite recent progress, current research leaves unclear how much of a role language understanding plays in this task, especially because dominant evaluation metrics have focused on goal completion rather than the sequence of actions corresponding to the instructions. Here, we highlight shortcomings of current metrics for the Room-to-Room dataset (Anderson et al.,2018b) and propose a new metric, Coverage weighted by Length Score (CLS). We also show that the existing paths in the dataset are not ideal for evaluating instruction following because they are direct-to-goal shortest paths. We join existing short paths to form more challenging extended paths to create a new data set, Room-for-Room (R4R). Using R4R and CLS, we show that agents that receive rewards for instruction fidelity outperform agents that focus on goal completion.