LangNav: Language as a Perceptual Representation for Navigation

Bowen Pan, Rameswar Panda, SouYoung Jin, Rogerio Feris, Aude Oliva, Phillip Isola, Yoon Kim

Keywords: Language Models, Vision-and-Language Navigation, Learn from Synthetic Data, Sim-to-Real

Abstract: We explore the use of language as a perceptual representation for vision-and-language navigation. 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 two use cases of our language-based navigation ours approach on the R2R vision-and-language navigation benchmark: generating synthetic trajectories from a prompted large language model (GPT-4) with which to finetune a smaller language model; and sim-to-real transfer where we transfer a policy learned on a simulated environment (ALFRED) to a real-world environment (R2R). Our approach is found to improve upon strong baselines that rely on visual features in settings where only a few gold trajectories (10-100) are available, demonstrating the potential of using language as a perceptual representation for learning navigation agents.

Primary Area: applications to robotics, autonomy, planning

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Submission Number: 731