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We manually extend the benchmark dataset Room-to-Room with landmark- and action-aware labels in order to provide fine-grained information for each viewpoint. Below figure shows an illustration of decoupled labels providing intermediate supervision during navigation. The superscripts in the instruction denote the landmark and action labels for each viewpoint. The decoupled labels not only contain disentangled information, but help the alignment between vision and language modalities.

The annotations are stored in directory LAR2R/. Note the json files only contain annotated index, without original instruction. Next, we present an example to show the file structure.

{'9f0079fa767e402cb515c7751a13e265': {'0': {'action': [0, 1], 'landmark': [2, 3, 4]},
                                      '1': {'action': [0, 1], 'landmark': [2, 3]},
                                      '2': {'action': [0, 1], 'landmark': [2, 3]}},
 '3abee6c9f9d144cead7d659a476ecb07': {'0': {'action': [6]},
                                      '1': {'action': [5]},
                                      '2': {'action': [16]}},
 '17e450ed7bd2429b81d50ebe770937aa': {'0': {'landmark': [7, 8, 9, 10, 11, 12]},
                                      '1': {'landmark': [6, 7, 8, 9, 10, 11]},
                                      '2': {'landmark': [17, 18, 19, 20, 21, 22, 23, 24, 25, 26]}},
 'id': 9}

Here, the json file is a dict, and the first level key is path_id. The above example illustrates the case of one trajectory. 9f0079fa767e402cb515c7751a13e265 is the viewpoint name. Then 0 1 2 is the instruction_id, which contains the specific index. Note that the index is 0-based. We also provide a simple demo to help better comprehension.

1. Please install Matterport3D simulator environment with the old version (v0.1).

2. Please follow the instructions of HAMT to install requirements, and download data. Please put the data in datasets directory.

To train the decoupled label speaker

cd r2r_src
bash scripts/run_dls.sh

To train the navigator

bash scripts/run_r2r.sh

This repository is partly built upon HAMT and Recurrent-VLN-BERT. Thanks them for their great works!!!