GesNavi: Gesture-guided Outdoor Vision-and-Language Navigation
Abstract
AbstractVision-and-Language Navigation (VLN) task involves navigating mobility using linguistic commands and has application in developing interfaces for autonomous mobility. In reality, natural human communication also encompasses non-verbal cues like hand gestures and gaze. These gesture-guided instructions have been explored in Human-Robot Interaction systems for effective interaction, particularly in object-referring expressions. However, a notable gap exists in tackling gesture-based demonstrative expressions in outdoor VLN task. To address this, we introduce a novel dataset for gesture-guided outdoor VLN instructions with demonstrative expressions, designed with a focus on complex instructions requiring multi-hop reasoning between the multiple input modalities. In addition, our work also includes a comprehensive analysis of the collected data and a comparative evaluation against the existing datasets.