Vision-and-Language Navigation (VLN) aims to develop intelligent agents to navigate in unseen environments only through language and vision supervision. In the recently proposed continuous settings (continuous VLN), the agent must act in a free 3D space and faces tougher challenges like real-time execution, complex instruction understanding, and long action sequence prediction. For a better performance in continuous VLN, we design a multi-level instruction understanding procedure and propose a novel model, Multi-Level Attention Network (MLANet). The first step of MLANet is to generate sub-instructions efficiently. We design a Fast Sub-instruction Algorithm (FSA) to segment the raw instruction into sub-instructions and generate a new sub-instruction dataset named ``FSASub". FSA is annotation-free and faster than the current method by 70 times, thus fitting the real-time requirement in continuous VLN. To solve the complex instruction understanding problem, MLANet needs a global perception of the instruction and observations. We propose a Multi-Level Attention (MLA) module to fuse vision, low-level semantics, and high-level semantics, which produce features containing a dynamic and global comprehension of the task. MLA also mitigates the adverse effects of noise words, thus ensuring a robust understanding of the instruction. To correctly predict actions in long trajectories, MLANet needs to focus on what sub-instruction is being executed every step. We propose a Peak Attention Loss (PAL) to improve the flexible and adaptive selection of the current sub-instruction. PAL benefits the navigation agent by concentrating its attention on the local information, thus helping the agent predict the most appropriate actions. We train and test MLANet in the standard benchmark. Experiment results show MLANet outperforms baselines by a significant margin.
NavRAG: Generating User Demand Instructions for Embodied Navigation through Retrieval-Augmented LLM
School of Artificial Intelligence, Beijing Normal University（北京师范大学人工智能学院）；School of Computing, National University of Singapore（新加坡国立大学计算机学院）；College of Information Science and Technology, Beijing University of Chemical Technology（北京化工大学信息科学与技术学院）
Defense Innovation Institute, Chinese Academy of Military Science（国防科技研究院，中国军事科学院）；Tianjin Artificial Intelligence Innovation Center（天津人工智能创新中心）；School of Mechanical Engineering, Tianjin University（天津大学机械工程学院）
Instruction-as-State: Environment-Guided and State-Conditioned Semantic Understanding for Embodied Navigation
National Key Laboratory of Human-Machine Hybrid Augmented Intelligence（人机混合增强智能国家重点实验室）；The Institute of Artificial Intelligence and Robotics（人工智能与机器人研究所）；School of Information Science and Technology（信息科学与技术学院）；Zhongguancun Academy（中关村学院）
Fine-Grained Instruction-Guided Graph Reasoning for Vision-and-Language Navigation
Guangdong Institute of Intelligence Science and Technology（广东智能科学与技术研究院）；Department of Computer Science, Emory University（埃默里大学计算机科学系）；Department of Computer Science, University of Wisconsin-Madison（威斯康星大学麦迪逊分校计算机科学系）；Tsinghua University（清华大学）；Innovation and Research and Development Department, BoardWare Information System Company（BoardWare信息系统公司创新与研发部）；School of Mathematics, Peking University（北京大学数学学院）
Controllable Navigation Instruction Generation with Chain of Thought Prompting
School of Artificial Intelligence, Beihang University（北京航空航天大学人工智能学院）；College of Computer Science and Technology, Zhejiang University（浙江大学计算机科学与技术学院）；Department of Computer Science and Technology, Tsinghua University（清华大学计算机科学与技术系）
Learning Vision-and-Language Navigation from YouTube Videos
South China University of Technology（华南理工大学）；Information Technology R&D Innovation Center of Peking University（北京大学信息技术研发创新中心）；UMass Amherst（马萨诸塞大学阿默斯特分校）；MIT-IBM Watson AI Lab（MIT-IBM沃森人工智能实验室）；Key Laboratory of Big Data and Intelligent Robot, Ministry of Education（教育部大数据与智能机器人重点实验室）；Peking University Shenzhen Graduate School（北京大学深圳研究生院）
$A^2$Nav: Action-Aware Zero-Shot Robot Navigation by Exploiting Vision-and-Language Ability of Foundation Models
South China University of Technology（华南理工大学）；Shenzhen University（深圳大学）；Pazhou Laboratory（琶洲实验室）；Key Laboratory of Big Data and Intelligent Robot, Ministry of Education（教育部大数据与智能机器人重点实验室）；Shenzhen Graduate School, Peking University（北京大学深圳研究生院）；UMass Amherst（马萨诸塞大学阿默斯特分校）；Cisco Research（思科研究院）
Constraint-Aware Zero-Shot Vision-Language Navigation in Continuous Environments
New Laboratory of Pattern Recognition (NLPR)（模式识别新实验室）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）；Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)（穆罕默德·本·扎耶德人工智能大学）；Robotics X, Tencent（腾讯Robotics X实验室）
The Road to Know-Where: An Object-and-Room Informed Sequential BERT for Indoor Vision-Language Navigation
The Australian National University（澳大利亚国立大学）；University of California, Merced（加州大学默塞德分校）；Google Research（谷歌研究院）；Yonsei University（延世大学）；Australian Institute for Machine Learning, The University of Adelaide（阿德莱德大学澳大利亚机器学习研究所）；Monash University（莫纳什大学）
Weakly-Supervised Multi-Granularity Map Learning for Vision-and-Language Navigation
South China University of Technology（华南理工大学）；Pazhou Laboratory（琶洲实验室）；Shenzhen University（深圳大学）；Information Technology R&D Innovation Center of Peking University（北京大学信息技术研发创新中心）；MIT-IBM Watson AI Lab（MIT-IBM沃森人工智能实验室）；UMass Amherst（马萨诸塞大学阿默斯特分校）
Towards Open Environments and Instructions: General Vision-Language Navigation via Fast-Slow Interactive Reasoning
School of Artificial Intelligence, College of Intelligence and Computing, Tianjin University, China（人工智能学院，智能与计算学院，天津大学，中国）；School of Computer Science and Information Engineering, Hefei University of Technology, China（计算机科学与信息工程学院，合肥工业大学，中国）
Data-Centric Recursive Self-Improvement for Navigation via Policy-Synchronized Language-Action Dual Bootstrapping
Shanghai AI Laboratory（上海人工智能实验室）；Shanghai Jiao Tong University（上海交通大学）；Tsinghua University（清华大学）；University of Adelaide（阿德莱德大学）；UNC Chapel Hill（北卡罗来纳大学教堂山分校）；Nanjing University（南京大学）；University of Science and Technology of China（中国科学技术大学）；Harbin Institute of Technology（哈尔滨工业大学）；Fudan University（复旦大学）
