BabyWalk: Going Farther in Vision-and-Language Navigationby Taking Baby Steps
Table 4: BabyWalk’s performances with curriculum-based reinforcement learning (crl), which improves imitation learning without or with reinforcement learning (il+rl).
['Setting Metrics', 'r4r → r4r sr↑', 'r4r → r4r cls↑', 'r4r → r4r sdtw ↑', 'r4r → others sr↑', 'r4r → others cls↑', 'r4r → others sdtw ↑']
While imitation learning (il) provides a good warm-up for sr, significant improvement on other two metrics come from the subsequent RL (il+rl). Furthermore, CRL (with 4 “lectures”) provides clear improvements over direct RL on the entire instruction (i.e., learning to execute all Baby-Steps at once). Each lecture improves over the previous one, especially in terms of the sdtw metric.