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arXiv · 1810.00663

Translating Navigation Instructions in Natural Language to a High-Level Plan for Behavioral Robot Navigation

Xiaoxue Zang·Ashwini Pokle·Marynel Vázquez·Kevin Chen·Juan Carlos Niebles·Alvaro Soto·Silvio Savarese
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Abstract

We propose an end-to-end deep learning model for translating free-form natural language instructions to a high-level plan for behavioral robot navigation. We use attention models to connect information from both the user instructions and a topological representation of the environment. We evaluate our model's performance on a new dataset containing 10,050 pairs of navigation instructions. Our model significantly outperforms baseline approaches. Furthermore, our results suggest that it is possible to leverage the environment map as a relevant knowledge base to facilitate the translation of free-form navigational instruction.

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Xiaoxue Zang, Ashwini Pokle, Marynel Vázquez, Kevin Chen, Juan Carlos Niebles, Alvaro Soto, Silvio Savarese. 2018-09-24. Translating Navigation Instructions in Natural Language to a High-Level Plan for Behavioral Robot Navigation. https://arxiv.org/abs/1810.00663

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