# Episodic Transformer for Vision-and-Language Navigation

arXiv: https://arxiv.org/abs/2105.06453 · HTML: https://mlsanity.com/paper/2105.06453/

## Key facts

- Cited by 156 papers in the map (data through 14 Oct 2026).
- Builds on 47 of its 73 references that are in the map.
- First posted on arXiv 13 May 2021.

## Builds on (most cited first, 30 of 47)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Non-local Neural Networks](https://mlsanity.com/paper/1711.07971/) (2017)
- [ViLBERT: Pretraining Task-Agnostic Visiolinguistic Representations for Vision-and-Language Tasks](https://mlsanity.com/paper/1908.02265/) (2019)
- [ALFWorld: Aligning Text and Embodied Environments for Interactive Learning](https://mlsanity.com/paper/2010.03768/) (2020)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Spider: A Large-Scale Human-Labeled Dataset for Complex and Cross-Domain Semantic Parsing and Text-to-SQL Task](https://mlsanity.com/paper/1809.08887/) (2018)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [Quantifying Attention Flow in Transformers](https://mlsanity.com/paper/2005.00928/) (2020)
- [VideoBERT: A Joint Model for Video and Language Representation Learning](https://mlsanity.com/paper/1904.01766/) (2019)
- [On Evaluation of Embodied Navigation Agents](https://mlsanity.com/paper/1807.06757/) (2018)
- [Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments](https://mlsanity.com/paper/2004.02857/) (2020)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Grounding](https://mlsanity.com/paper/2010.07954/) (2020)
- [Multi-modal Transformer for Video Retrieval](https://mlsanity.com/paper/2007.10639/) (2020)
- [Speaker-Follower Models for Vision-and-Language Navigation](https://mlsanity.com/paper/1806.02724/) (2018)
- [Video Action Transformer Network](https://mlsanity.com/paper/1812.02707/) (2018)
- [Learning Latent Plans from Play](https://mlsanity.com/paper/1903.01973/) (2019)
- [TextWorld: A Learning Environment for Text-based Games](https://mlsanity.com/paper/1806.11532/) (2018)
- [Reinforced Cross-Modal Matching and Self-Supervised Imitation Learning for Vision-Language Navigation](https://mlsanity.com/paper/1811.10092/) (2018)
- [A Recurrent Vision-and-Language BERT for Navigation](https://mlsanity.com/paper/2011.13922/) (2020)
- [Causal Confusion in Imitation Learning](https://mlsanity.com/paper/1905.11979/) (2019)

## Built on by (most cited first, 30 of 156)

- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [Multimodal Learning with Transformers: A Survey](https://mlsanity.com/paper/2206.06488/) (2022)
- [Attention Bottlenecks for Multimodal Fusion](https://mlsanity.com/paper/2107.00135/) (2021)
- [SQA3D: Situated Question Answering in 3D Scenes](https://mlsanity.com/paper/2210.07474/) (2022)
- [NavGPT: Explicit Reasoning in Vision-and-Language Navigation with Large Language Models](https://mlsanity.com/paper/2305.16986/) (2023)
- [History Aware Multimodal Transformer for Vision-and-Language Navigation](https://mlsanity.com/paper/2110.13309/) (2021)
- [TEACh: Task-driven Embodied Agents that Chat](https://mlsanity.com/paper/2110.00534/) (2021)
- [Think Global, Act Local: Dual-scale Graph Transformer for Vision-and-Language Navigation](https://mlsanity.com/paper/2202.11742/) (2022)
- [Scene-LLM: Extending Language Model for 3D Visual Understanding and Reasoning](https://mlsanity.com/paper/2403.11401/) (2024)
- [SceneVerse: Scaling 3D Vision-Language Learning for Grounded Scene Understanding](https://mlsanity.com/paper/2401.09340/) (2024)
- [Q-Transformer: Scalable Offline Reinforcement Learning via Autoregressive Q-Functions](https://mlsanity.com/paper/2309.10150/) (2023)
- [GridMM: Grid Memory Map for Vision-and-Language Navigation](https://mlsanity.com/paper/2307.12907/) (2023)
- [MobileVLM : A Fast, Strong and Open Vision Language Assistant for Mobile Devices](https://mlsanity.com/paper/2312.16886/) (2023)
- [FILM: Following Instructions in Language with Modular Methods](https://mlsanity.com/paper/2110.07342/) (2021)
- [Vision-and-Language Navigation: A Survey of Tasks, Methods, and Future Directions](https://mlsanity.com/paper/2203.12667/) (2022)
- [Discuss Before Moving: Visual Language Navigation via Multi-expert Discussions](https://mlsanity.com/paper/2309.11382/) (2023)
- [Skill Induction and Planning with Latent Language](https://mlsanity.com/paper/2110.01517/) (2021)
- [Instruction-driven history-aware policies for robotic manipulations](https://mlsanity.com/paper/2209.04899/) (2022)
- [A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution](https://mlsanity.com/paper/2107.05612/) (2021)
- [Cross-modal Map Learning for Vision and Language Navigation](https://mlsanity.com/paper/2203.05137/) (2022)
- [Bootstrap Your Own Skills: Learning to Solve New Tasks with Large Language Model Guidance](https://mlsanity.com/paper/2310.10021/) (2023)
- [DREAMWALKER: Mental Planning for Continuous Vision-Language Navigation](https://mlsanity.com/paper/2308.07498/) (2023)
- [Vision-and-Language Navigation Today and Tomorrow: A Survey in the Era of Foundation Models](https://mlsanity.com/paper/2407.07035/) (2024)
- [Bird's-Eye-View Scene Graph for Vision-Language Navigation](https://mlsanity.com/paper/2308.04758/) (2023)
- [ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenes](https://mlsanity.com/paper/2304.04321/) (2023)
- [VLMbench: A Compositional Benchmark for Vision-and-Language Manipulation](https://mlsanity.com/paper/2206.08522/) (2022)
- [Grounded Decoding: Guiding Text Generation with Grounded Models for Embodied Agents](https://mlsanity.com/paper/2303.00855/) (2023)
- [Lookahead Exploration with Neural Radiance Representation for Continuous Vision-Language Navigation](https://mlsanity.com/paper/2404.01943/) (2024)

## Abstract (arXiv)

Interaction and navigation defined by natural language instructions in dynamic environments pose significant challenges for neural agents. This paper focuses on addressing two challenges: handling long sequence of subtasks, and understanding complex human instructions. We propose Episodic Transformer (E.T.), a multimodal transformer that encodes language inputs and the full episode history of visual observations and actions. To improve training, we leverage synthetic instructions as an intermediate representation that decouples understanding the visual appearance of an environment from the variations of natural language instructions. We demonstrate that encoding the history with a transformer is critical to solve compositional tasks, and that pretraining and joint training with synthetic instructions further improve the performance. Our approach sets a new state of the art on the challenging ALFRED benchmark, achieving 38.4% and 8.5% task success rates on seen and unseen test splits.