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Soft Expert Reward Learning for Vision-and-Language Navigation

arXiv 2007.10835 ↗First posted 21 Jul 2020cs.CVcited by 37

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Abstract (arXiv)

Vision-and-Language Navigation (VLN) requires an agent to find a specified spot in an unseen environment by following natural language instructions. Dominant methods based on supervised learning clone expert's behaviours and thus perform better on seen environments, while showing restricted performance on unseen ones. Reinforcement Learning (RL) based models show better generalisation ability but have issues as well, requiring large amount of manual reward engineering is one of which. In this paper, we introduce a Soft Expert Reward Learning (SERL) model to overcome the reward engineering designing and generalisation problems of the VLN task. Our proposed method consists of two complementary components: Soft Expert Distillation (SED) module encourages agents to behave like an expert as much as possible, but in a soft fashion; Self Perceiving (SP) module targets at pushing the agent towards the final destination as fast as possible. Empirically, we evaluate our model on the VLN seen, unseen and test splits and the model outperforms the state-of-the-art methods on most of the evaluation metrics.

Key facts. Cited by 37 papers in the map (data through 7 Oct 2026). First posted on arXiv 21 Jul 2020.

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Citing papers per year: 2021: 12; 2022: 7; 2023: 6; 2024: 6; 2025: 5; 2026: 1.

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  1. 2021History Aware Multimodal Transformer for Vision-and-Language Navigationcited by 268
  2. 2022Think Global, Act Local: Dual-scale Graph Transformer for Vision-and-Language Navigationcited by 187
  3. 2023ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environmentscited by 165
  4. 2023Multi-modal Learning with Missing Modality via Shared-Specific Feature Modellingcited by 159
  5. 2021Airbert: In-domain Pretraining for Vision-and-Language Navigationcited by 129
  6. 2022Vision-and-Language Navigation: A Survey of Tasks, Methods, and Future Directionscited by 116
  7. 2021The Road to Know-Where: An Object-and-Room Informed Sequential BERT for Indoor Vision-Language Navigationcited by 60
  8. 2022Target-Driven Structured Transformer Planner for Vision-Language Navigationcited by 58
  9. 2021Neighbor-view Enhanced Model for Vision and Language Navigationcited by 50
  10. 2023Learnable Cross-modal Knowledge Distillation for Multi-modal Learning with Missing Modalitycited by 44
  11. 2021Diagnosing Vision-and-Language Navigation: What Really Matterscited by 36
  12. 2021Vision-Language Navigation: A Survey and Taxonomycited by 33
25 more
  1. 2021Improving Cross-Modal Alignment in Vision Language Navigation via Syntactic Informationcited by 31
  2. 2021Core Challenges in Embodied Vision-Language Planningcited by 30
  3. 2025CityNavAgent: Aerial Vision-and-Language Navigation with Hierarchical Semantic Planning and Global Memorycited by 30
  4. 2022Visual-Language Navigation Pretraining via Prompt-based Environmental Self-explorationcited by 25
  5. 2024MC-GPT: Empowering Vision-and-Language Navigation with Memory Map and Reasoning Chainscited by 25
  6. 2023VLN-PETL: Parameter-Efficient Transfer Learning for Vision-and-Language Navigationcited by 22
  7. 2022Language Control Diffusion: Efficiently Scaling through Space, Time, and Taskscited by 20
  8. 2024Vision-Language Navigation with Energy-Based Policycited by 19
  9. 2024Exploring Spatial Representation to Enhance LLM Reasoning in Aerial Vision-Language Navigationcited by 18
  10. 2021Contrastive Instruction-Trajectory Learning for Vision-Language Navigationcited by 16
  11. 2025Cross from Left to Right Brain: Adaptive Text Dreamer for Vision-and-Language Navigationcited by 16
  12. 2022Uncertainty-aware Multi-modal Learning via Cross-modal Random Network Predictioncited by 13
  13. 2022CLEAR: Improving Vision-Language Navigation with Cross-Lingual, Environment-Agnostic Representationscited by 10
  14. 2024Guide-LLM: An Embodied LLM Agent and Text-Based Topological Map for Robotic Guidance of People with Visual Impairmentscited by 10
  15. 2025Unseen from Seen: Rewriting Observation-Instruction Using Foundation Models for Augmenting Vision-Language Navigationcited by 8
  16. 2021Rethinking the Spatial Route Prior in Vision-and-Language Navigationcited by 6
  17. 2025NavQ: Learning a Q-Model for Foresighted Vision-and-Language Navigationcited by 6
  18. 2024Towards Deviation-Robust Agent Navigation via Perturbation-Aware Contrastive Learningcited by 5
  19. 2024Meta-Learned Modality-Weighted Knowledge Distillation for Robust Multi-Modal Learning with Missing Datacited by 5
  20. 2023Actional Atomic-Concept Learning for Demystifying Vision-Language Navigationcited by 4
  21. 2025Generating Vision-Language Navigation Instructions Incorporated Fine-Grained Alignment Annotationscited by 4
  22. 2026Trajectory-Diversity-Driven Robust Vision-and-Language Navigationcited by 4
  23. 2021Deep Learning for Embodied Vision Navigation: A Surveycited by 2
  24. 2021Delayed Rewards Calibration via Reward Empirical Sufficiencycited by 0
  25. 2023Core Challenges in Embodied Vision-Language Planningcited by 0