Most Vision-and-Language Navigation (VLN) algorithms tend to make decision
errors, primarily due to a lack of visual common sense and insufficient
reasoning capabilities. To address this issue, this paper proposes a
Hierarchical Spatial Proximity Reasoning (HSPR) model. Firstly, we design a
Scene Understanding Auxiliary Task (SUAT) to assist the agent in constructing a
knowledge base of hierarchical spatial proximity for reasoning navigation.
Specifically, this task utilizes panoramic views and object features to
identify regions in the navigation environment and uncover the adjacency
relationships between regions, objects, and region-object pairs. Secondly, we
dynamically construct a semantic topological map through agent-environment
interactions and propose a Multi-step Reasoning Navigation Algorithm (MRNA)
based on the map. This algorithm continuously plans various feasible paths from
one region to another, utilizing the constructed proximity knowledge base,
enabling more efficient exploration. Additionally, we introduce a Proximity
Adaptive Attention Module (PAAM) and Residual Fusion Method (RFM) to enable the
model to obtain more accurate navigation decision confidence. Finally, we
conduct experiments on publicly available datasets including REVERIE, SOON,
R2R, and R4R to validate the effectiveness of the proposed approach.

该论文提出了一种基于 Hierarchical Spatial Proximity Reasoning（HSPR）模型的视觉语言导航算法，通过引入 Scene Understanding Auxiliary Task（SUAT）来构建空间接近性知识库，利用 Multi-step Reasoning Navigation Algorithm（MRNA）进行路径规划，并通过引入 Proximity Adaptive Attention Module（PAAM）和 Residual Fusion Method（RFM）提高导航决策的准确性。实验证明了该方法的有效性。