Before revision:  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:  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 . The guiding agent in turn models the navigating agent to simulate navigation steps it would take to generate answers. We use the progress agents make towards the goal as a reinforcement learning reward signal to directly inform not only navigation actions, but also both question and answer generation. We demonstrate that RMM enables better generalization to novel environments. Interlocutor modelling may be a way forward for human-agent dialogue where robots need to both ask and answer questions .