Embodied agents equipped with GPT as their brain have exhibited extraordinary decision-making and generalization abilities across various tasks. However, existing zero-shot agents for vision-and-language navigation (VLN) only prompt the GPT-4 to select potential locations within localized environments, without constructing an effective "global-view'' for the agent to understand the overall environment. In this work, we present a novel **map**-guided **GPT**-based agent, dubbed **MapGPT**, which introduces an online linguistic-formed map to encourage the global exploration. Specifically, we build an online map and incorporate it into the prompts that include node information and topological relationships, to help GPT understand the spatial environment. Benefiting from this design, we further propose an adaptive planning mechanism to assist the agent in performing multi-step path planning based on a map, systematically exploring multiple candidate nodes or sub-goals step by step. Extensive experiments demonstrate that our MapGPT is applicable to both GPT-4 and GPT-4V, achieving state-of-the-art zero-shot performance on the R2R and REVERIE simultaneously ($\sim$10\% and $\sim$12\% improvements in SR), and showcasing the newly emergent global thinking and path planning abilities of the GPT.

MapGPT: Map-Guided Prompting with Adaptive Path Planning for Vision-and-Language Navigation

Vision-Language Navigation (VLN) is a challenging task which requires an agent to align complex visual observations to language instructions to reach the goal position. Most existing VLN agents directly learn to align the raw directional features and visual features trained using one-hot labels to linguistic instruction features. However, the big semantic gap among these multi-modal inputs makes the alignment difficult and therefore limits the navigation performance. In this paper, we propose Actional Atomic-Concept Learning (AACL), which maps visual observations to actional atomic concepts for facilitating the alignment. Specifically, an actional atomic concept is a natural language phrase containing an atomic action and an object, e.g., ``go up stairs''. These actional atomic concepts, which serve as the bridge between observations and instructions, can effectively mitigate the semantic gap and simplify the alignment. AACL contains three core components: 1) a concept mapping module to map the observations to the actional atomic concept representations through the VLN environment and the recently proposed Contrastive Language-Image Pretraining (CLIP) model, 2) a concept refining adapter to encourage more instruction-oriented object concept extraction by re-ranking the predicted object concepts by CLIP, and 3) an observation co-embedding module which utilizes concept representations to regularize the observation representations. Our AACL establishes new state-of-the-art results on both fine-grained (R2R) and high-level (REVERIE and R2R-Last) VLN benchmarks. Moreover, the visualization shows that AACL significantly improves the interpretability in action decision. Code  will be available at https://gitee.com/mindspore/models/tree/master/research/cv/VLN-AACL.

Actional Atomic-Concept Learning for Demystifying Vision-Language Navigation

The vision-language navigation (VLN) task requires an agent to reach a target with the guidance of natural language instruction. Previous works learn to navigate step-by-step following an instruction. However, these works may fail to discriminate the similarities and discrepancies across instruction-trajectory pairs and ignore the temporal continuity of sub-instructions. These problems hinder agents from learning distinctive vision-and-language representations, harming the robustness and generalizability of the navigation policy. In this paper, we propose a Contrastive Instruction-Trajectory Learning (CITL) framework that explores invariance across similar data samples and variance across different ones to learn distinctive representations for robust navigation. Specifically, we propose: (1) a coarse-grained contrastive learning objective to enhance vision-and-language representations by contrasting semantics of full trajectory observations and instructions, respectively; (2) a fine-grained contrastive learning objective to perceive instructions by leveraging the temporal information of the sub-instructions; (3) a pairwise sample-reweighting mechanism for contrastive learning to mine hard samples and hence mitigate the influence of data sampling bias in contrastive learning. Our CITL can be easily integrated with VLN backbones to form a new learning paradigm and achieve better generalizability in unseen environments. Extensive experiments show that the model with CITL surpasses the previous state-of-the-art methods on R2R, R4R, and RxR.

Contrastive Instruction-Trajectory Learning for Vision-Language Navigation

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CV: Language and Vision 4

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The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines.

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technical paper

The purpose of the AAAI conference is to promote research in artificial intelligence (AI) and scientific exchange among AI researchers, practitioners, scientists, and engineers in affiliated disciplines. 

Bingqian Lin

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1

SHORT BIO

Presentations

MapGPT: Map-Guided Prompting with Adaptive Path Planning for Vision-and-Language Navigation

Actional Atomic-Concept Learning for Demystifying Vision-Language Navigation

Contrastive Instruction-Trajectory Learning for Vision-Language Navigation

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