multiple navigation tasks in the same

scene. For example,

we may give orders to a
housekeeping robot who always
works in an indoor space, like at
your home; Or, the service
robot of a hotel needs to deliver
things for customers inside
the building. In such scenarios, we
are able to prescan the
environments, obtain detailed
semantic navigation maps, and
rely on those for the actual
navigation – in combination
with obstacle avoidance to cope with
dynamic objects. These
maps may include not only the
geometry of the environment,
as in a traditional occupancy map,
but also its semantics, such
as the location of the objects and
classification of the room
types, which are useful to ground the
language instructions.
At runtime, instead of taking RGBD
sensor information
as input, as in traditional visual
language navigation (VLN)
approaches, we use the current robot
position in the semantic
navigation map as main observation
of our navigator.
We see two main benefits in using
the semantic navigation
map. First, the map provides global
information about the
environment. This prevents the agent
from being stuck in
local decisions. Second, we can
easily apply an explicit path
planning strategy to this modality.
Some previous works [8],
[9] also introduced maps for
language guided navigation, but
they simply treated the maps as
additional image inputs, not
leveraging their full potential.
In this paper, we propose a novel
Map-Language Navi-
gator (MLN), which carries out
navigation tasks based on
the semantic layouts of environments
and natural language
instructions. MLN uses a modular
design that consists of
three main components. In the First
module, we adopt de-
terministic algorithms to analyze and
discretize the semantic
navigation map of a target
environment so as to propose
path candidates accordingly. The
proposed path
multiple navigation tasks in the same
scene. For example,
we may give orders to a
housekeeping robot who always
works in an indoor space, like at
your home; Or, the service
robot of a hotel needs to deliver
things for customers inside
the building. In such scenarios, we
are able to prescan the
environments, obtain detailed
semantic navigation maps, and
rely on those for the actual
navigation – in combination
with obstacle avoidance to cope with
dynamic objects. These
maps may include not only the
geometry of the environment,
as in a traditional occupancy map,
but also its semantics, such
as the location of the objects and
classification of the room
types, which are useful to ground the
language instructions.
At runtime, instead of taking RGBD
sensor information
as input, as in traditional visual
language navigation (VLN)
approaches, we use the current robot
position in the semantic
navigation map as main observation
of our navigator.
We see two main benefits in using
the semantic navigation
map. First, the map provides global
information about the
environment. This prevents the agent
from being stuck in
local decisions. Second, we can
easily apply an explicit path
planning strategy to this modality.
Some previous works [8],
[9] also introduced maps for
language guided navigation, but
they simply treated the maps as
additional image inputs, not
leveraging their full potential.
In this paper, we propose a novel
Map-Language Navi-
gator (MLN), which carries out
navigation tasks based on
the semantic layouts of environments
and natural language
instructions. MLN uses a modular
design that consists of
three main components. In the First
module, we adopt de-
terministic algorithms to analyze and
discretize the semantic
navigation map of a target
environment so as to propose
path candidates accordingly. The
proposed path
multiple navigation tasks in the same
scene. For example,
we may give orders to a
housekeeping robot who always
works in an indoor space, like at
your home; Or, the service
robot of a hotel needs to deliver
things for customers inside
the building. In such scenarios, we
are able to prescan the
environments, obtain detailed
semantic navigation maps, and
rely on those for the actual
navigation – in combination
with obstacle avoidance to cope with
dynamic objects. These
maps may include not only the
geometry of the environment,
as in a traditional occupancy map,
but also its semantics, such
as the location of the objects and
classification of the room
types, which are useful to ground the
language instructions.
At runtime, instead of taking RGBD
sensor information
as input, as in traditional visual
language navigation (VLN)
approaches, we use the current robot
position in the semantic
navigation map as main observation
of our navigator.
We see two main benefits in using
the semantic navigation
map. First, the map provides global
information about the
environment. This prevents the agent
from being stuck in
local decisions. Second, we can
easily apply an explicit path
planning strategy to this modality.
Some previous works [8],
[9] also introduced maps for
language guided navigation, but
they simply treated the maps as
additional image inputs, not
leveraging their full potential.
In this paper, we propose a novel
Map-Language Navi-
gator (MLN), which carries out
navigation tasks based on
the semantic layouts of environments
and natural language
instructions. MLN uses a modular
design that consists of
three main components. In the First
module, we adopt de-
terministic algorithms to analyze and
discretize the semantic
navigation map of a target
environment so as to propose
path candidates accordingly. The
proposed path
ments. VLN-CE [1] are derived from
the Matter-
port [24] dataset which contains
annotated point clouds that
indicate the room type and the
category of objects in the envi-
ronment. There are forty object types
and thirty room types
in the dataset. Using these annotated
data, we render top-
view layouts of each scene an
er languages. The study has been carried out relying on the universal semantic map for
participant-oriented modifiers drawn by N. P. Himmelmann and E. Schultze-Berndt (2005) and on
the basis of the elements of its composition. The analysis has demonstrated that the majority of
Lithuanian language modifiers which have usually been analysed as circumstantials, i.e. as
event-oriented modifiers, are in fact also participant-oriented. Their semantic link with the
participant is reflected not only by the secondary predicates of physical, mental or emotional
condition, function, role, association, collective or life stage but also by those of manner,
concomitance, distributivity, time and even location and atmospheric condition. As a result, a
tentative semantic map of participant-oriented modifiers in the Lithuanian language has been
composed and it is provided in the article. This map is different from the universal map of
Himmelmann and Schultze-Berndt because of the specificity of the Lithuanian language
(secondary predicates of time, collective, distributivity, order, frequency and emphatic pronoun