This paper attacks the problem of language-guided navigation in a new perspective by using

novel semantic navigation maps, which enables robots to carry out natural language instructions
and move to a target position based on the map observations. We break down this problem into
parts and introduce three different modules to solve the corresponding subproblems. Our
approach leverages map information to provide Deterministic Path Candidate Proposals to
reduce the solution space. Different from traditional methods that predict robots' movements
toward the target step-by-step, we design an attention-based Language Driven Discriminator to
evaluate path candidates and determine the best path as the final result. To represent the map
observations along a path for a better modality alignment, a novel Path Feature Encoding
scheme tailored for semantic navigation maps is proposed. Unlike traditional methods that tend
to produce cumulative errors or be stuck in local decisions, our method which plans