The Touchdown dataset (Chen et al., 2019) provides instructions by human annotators for navigation through New York City streets and for resolving spatial descriptions at a given location. To enable the wider research community to work effectively with the Touchdown tasks, we are publicly releasing the 29k raw Street View panoramas needed for Touchdown. We follow the process used for the StreetLearn data release (Mirowski et al., 2019) to check panoramas for personally identifiable information and blur them as necessary. These have been added to the StreetLearn dataset and can be obtained via the same process as used previously for StreetLearn. We also provide a reference implementation for both Touchdown tasks: vision and language navigation (VLN) and spatial description resolution (SDR). We compare our model results to those given in (Chen et al., 2019) and show that the panoramas we have added to StreetLearn support both Touchdown tasks and can be used effectively for further research and comparison.

Vision-and-Language Navigation (VLN) is a natural language grounding task where agents have to interpret natural language instructions in the context of visual scenes in a dynamic environment to achieve prescribed navigation goals. Successful agents must have the ability to parse natural language of varying linguistic styles, ground them in potentially unfamiliar scenes, plan and react with ambiguous environmental feedback. Generalization ability is limited by the amount of human annotated data. In particular, paired vision-language sequence data is expensive to collect. We develop a discriminator that evaluates how well an instruction explains a given path in VLN task using multi-modal alignment. Our study reveals that only a small fraction of the high-quality augmented data from Fried et al., as scored by our discriminator, is useful for training VLN agents with similar performance. We also show that a VLN agent warm-started with pre-trained components from the discriminator outperforms the benchmark success rates of 35.5 by 10% relative measure.