SASRA: Semantically-aware Spatio-temporal Reasoning Agent for Vision-and-Language Navigation in Continuous Environments

08/26/2021
by   Muhammad Zubair Irshad, et al.
14

This paper presents a novel approach for the Vision-and-Language Navigation (VLN) task in continuous 3D environments, which requires an autonomous agent to follow natural language instructions in unseen environments. Existing end-to-end learning-based VLN methods struggle at this task as they focus mostly on utilizing raw visual observations and lack the semantic spatio-temporal reasoning capabilities which is crucial in generalizing to new environments. In this regard, we present a hybrid transformer-recurrence model which focuses on combining classical semantic mapping techniques with a learning-based method. Our method creates a temporal semantic memory by building a top-down local ego-centric semantic map and performs cross-modal grounding to align map and language modalities to enable effective learning of VLN policy. Empirical results in a photo-realistic long-horizon simulation environment show that the proposed approach outperforms a variety of state-of-the-art methods and baselines with over 22 SPL in prior unseen environments.

READ FULL TEXT

Please sign up or login with your details

Forgot password? Click here to reset

Sign in with Google

×

Use your Google Account to sign in to DeepAI

×

Consider DeepAI Pro