Before revision:  We introduce the first true dialog navigation agents in the literature which generate full conversations, and introduce the Recursive Mental Model (RMM) to conduct these dialogs. RMM dramatically improves generated language questionsand answers by recursively propagating reward signals to find the question expected to elicit the best answer, and the answer expected to elicit the best navigation . Additionally, we provide baselines for future work to build on when investigating the unique challenges of embodied visual agents that not only interpret instructions but also ask questions in natural language .
After revision:  We introduce the first true dialog navigation agents in the literature which generate full conversations, and introduce the Recursive Mental Model (RMM) . The navigating agent models the guiding agent to simulate answers given candidate generated questions in natural language .