Before revision: Fluent communication requires understanding your audience. In the new collaborative task of Vision-and-Dialog Navigation, one agent must ask questions and follow instructive answers, while the other must provide those answers. 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.
After revision: Language-guided robots must be able to both ask humans questions and understand answers. Much existing work focuses only on the latter. In this paper, we go beyond instruction following and introduce a two-agent task where one agent navigates and asks questions that a second, guiding agent answers. Inspired by theory of mind, we propose the Recursive Mental Model (RMM) to conduct these dialogs.