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. 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 .
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) . The navigating agent models the guiding agent to simulate answers given candidate generated 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 .
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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
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
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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
. The navigating agent models the guiding agent to simulate answers given candidate generated
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in natural language
. 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