# Prompt-based Context- and Domain-aware Pretraining for Vision and Language Navigation

arXiv: https://arxiv.org/abs/2309.03661 · HTML: https://mlsanity.com/paper/2309.03661/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Embodied and 3D vision-language models, one of 16 directions in Multimodal LLMs / vision-language models.
- Builds on 9 of its 40 references that are in the map.
- First posted on arXiv 7 Sep 2023.

## Placed in

- Multimodal LLMs / vision-language models / [Embodied and 3D vision-language models](https://mlsanity.com/mllm/embodied-and-3d-vision-language-models/)

## Builds on (most cited first, 9 of 9)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Pre-train, Prompt, and Predict: A Systematic Survey of Prompting Methods in Natural Language Processing](https://mlsanity.com/paper/2107.13586/) (2021)
- [GPT Understands, Too](https://mlsanity.com/paper/2103.10385/) (2021)
- [Multimodal Few-Shot Learning with Frozen Language Models](https://mlsanity.com/paper/2106.13884/) (2021)
- [On Evaluation of Embodied Navigation Agents](https://mlsanity.com/paper/1807.06757/) (2018)
- [CPT: Colorful Prompt Tuning for Pre-trained Vision-Language Models](https://mlsanity.com/paper/2109.11797/) (2021)
- [Self-Monitoring Navigation Agent via Auxiliary Progress Estimation](https://mlsanity.com/paper/1901.03035/) (2019)

## Built on by (most cited first, 1 of 1)

- [Building Lane-Level Maps from Aerial Images](https://mlsanity.com/paper/2312.13449/) (2023)

## Abstract (arXiv)

Pretrained visual-language models have extensive world knowledge and are widely used in visual and language navigation (VLN). However, they are not sensitive to indoor scenarios for VLN tasks. Another challenge for VLN is how the agent understands the contextual relations between actions on a path and performs cross-modal alignment sequentially. In this paper, we propose a novel Prompt-bAsed coNtext- and inDoor-Aware (PANDA) pretraining framework to address these problems. It performs prompting in two stages. In the indoor-aware stage, we apply an efficient tuning paradigm to learn deep visual prompts from an indoor dataset, in order to augment pretrained models with inductive biases towards indoor environments. This can enable more sample-efficient adaptation for VLN agents. Furthermore, in the context-aware stage, we design a set of hard context prompts to capture the sequence-level semantics in the instruction. They enable further tuning of the pretrained models via contrastive learning. Experimental results on both R2R and REVERIE show the superiority of PANDA compared to existing state-of-the-art methods.