Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. We present the first pre-training and fine-tuning paradigm for vision-and-language navigation (VLN) tasks. By training on a large amount of image-text-action triplets in a self-supervised learning manner, the pre-trained model provides generic representations of visual environments and language instructions. It can be easily used as a drop-in for existing VLN frameworks, leading to the proposed agent PREVALENT1. It learns more effectively in new tasks and generalizes better in a previously unseen environment. The performance is validated on three VLN tasks. On the Room-to-Room  benchmark, our model improves the state-of-the-art from 47% to 51% on success rate weighted by path length. Further, the learned representation is transferable to other VLN tasks. On two recent tasks, vision-and-dialog navigation  and “Help, Anna!” , the proposed PREVALENT leads to significant improvement over existing methods, achieving a new state of the art.
|Original language||English (US)|
|Title of host publication||Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition|
|Publisher||IEEE Computer Societyhelp@computer.org|
|Number of pages||10|
|State||Published - Jan 1 2020|