Instruction generator
1. training
see Mantis/mantis/train/scripts/train_r2r.sh
2. eval checkpoints
see Mantis/mantis/train/eval_vln.py
3. infer on unlabeled path
see Mantis/mantis/train/infer_vln.py

Navigator
1. pretraining
see DUET/pretrain_src/split_data_train.sh
2. finetuning on various downstream tasks
see DUET/map_nav_src/scripts
3. fitering
see DUET/map_nav_src/scripts/valid.sh