@inproceedings{pan-etal-2024-langnav,
title = "{L}ang{N}av: Language as a Perceptual Representation for Navigation",
author = "Pan, Bowen and
Panda, Rameswar and
Jin, SouYoung and
Feris, Rogerio and
Oliva, Aude and
Isola, Phillip and
Kim, Yoon",
editor = "Duh, Kevin and
Gomez, Helena and
Bethard, Steven",
booktitle = "Findings of the Association for Computational Linguistics: NAACL 2024",
month = jun,
year = "2024",
address = "Mexico City, Mexico",
publisher = "Association for Computational Linguistics",
url = "https://aclanthology.org/2024.findings-naacl.60",
pages = "950--974",
abstract = "We explore the use of language as a perceptual representation for vision-and-language navigation (VLN), with a focus on low-data settings. Our approach uses off-the-shelf vision systems for image captioning and object detection to convert an agent{'}s egocentric panoramic view at each time step into natural language descriptions. We then finetune a pretrained language model to select an action, based on the current view and the trajectory history, that would best fulfill the navigation instructions. In contrast to the standard setup which adapts a pretrained language model to work directly with continuous visual features from pretrained vision models, our approach instead uses (discrete) language as the perceptual representation. We explore several use cases of our language-based navigation (LangNav) approach on the R2R VLN benchmark: generating synthetic trajectories from a prompted language model (GPT-4) with which to finetune a smaller language model; domain transfer where we transfer a policy learned on one simulated environment (ALFRED) to another (more realistic) environment (R2R); and combining both vision- and language-based representations for VLN. Our approach is found to improve upon baselines that rely on visual features in settings where only a few expert trajectories (10-100) are available, demonstrating the potential of language as a perceptual representation for navigation.",
}
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<abstract>We explore the use of language as a perceptual representation for vision-and-language navigation (VLN), with a focus on low-data settings. Our approach uses off-the-shelf vision systems for image captioning and object detection to convert an agent’s egocentric panoramic view at each time step into natural language descriptions. We then finetune a pretrained language model to select an action, based on the current view and the trajectory history, that would best fulfill the navigation instructions. In contrast to the standard setup which adapts a pretrained language model to work directly with continuous visual features from pretrained vision models, our approach instead uses (discrete) language as the perceptual representation. We explore several use cases of our language-based navigation (LangNav) approach on the R2R VLN benchmark: generating synthetic trajectories from a prompted language model (GPT-4) with which to finetune a smaller language model; domain transfer where we transfer a policy learned on one simulated environment (ALFRED) to another (more realistic) environment (R2R); and combining both vision- and language-based representations for VLN. Our approach is found to improve upon baselines that rely on visual features in settings where only a few expert trajectories (10-100) are available, demonstrating the potential of language as a perceptual representation for navigation.</abstract>
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%0 Conference Proceedings
%T LangNav: Language as a Perceptual Representation for Navigation
%A Pan, Bowen
%A Panda, Rameswar
%A Jin, SouYoung
%A Feris, Rogerio
%A Oliva, Aude
%A Isola, Phillip
%A Kim, Yoon
%Y Duh, Kevin
%Y Gomez, Helena
%Y Bethard, Steven
%S Findings of the Association for Computational Linguistics: NAACL 2024
%D 2024
%8 June
%I Association for Computational Linguistics
%C Mexico City, Mexico
%F pan-etal-2024-langnav
%X We explore the use of language as a perceptual representation for vision-and-language navigation (VLN), with a focus on low-data settings. Our approach uses off-the-shelf vision systems for image captioning and object detection to convert an agent’s egocentric panoramic view at each time step into natural language descriptions. We then finetune a pretrained language model to select an action, based on the current view and the trajectory history, that would best fulfill the navigation instructions. In contrast to the standard setup which adapts a pretrained language model to work directly with continuous visual features from pretrained vision models, our approach instead uses (discrete) language as the perceptual representation. We explore several use cases of our language-based navigation (LangNav) approach on the R2R VLN benchmark: generating synthetic trajectories from a prompted language model (GPT-4) with which to finetune a smaller language model; domain transfer where we transfer a policy learned on one simulated environment (ALFRED) to another (more realistic) environment (R2R); and combining both vision- and language-based representations for VLN. Our approach is found to improve upon baselines that rely on visual features in settings where only a few expert trajectories (10-100) are available, demonstrating the potential of language as a perceptual representation for navigation.
%U https://aclanthology.org/2024.findings-naacl.60
%P 950-974
Markdown (Informal)
[LangNav: Language as a Perceptual Representation for Navigation](https://aclanthology.org/2024.findings-naacl.60) (Pan et al., Findings 2024)
ACL
- Bowen Pan, Rameswar Panda, SouYoung Jin, Rogerio Feris, Aude Oliva, Phillip Isola, and Yoon Kim. 2024. LangNav: Language as a Perceptual Representation for Navigation. In Findings of the Association for Computational Linguistics: NAACL 2024, pages 950–974, Mexico City, Mexico. Association for Computational Linguistics.