{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/the-regretful-agent-heuristic-aided","title":"The Regretful Agent: Heuristic-Aided Navigation through Progress Estimation","arxiv_id":"1903.01602","date":"2019-03-05","proceeding":"CVPR 2019 6","authors":["Chih-Yao Ma","Zuxuan Wu","Ghassan AlRegib","Caiming Xiong","Zsolt Kira"],"abstract":"As deep learning continues to make progress for challenging perception tasks,\nthere is increased interest in combining vision, language, and decision-making.\nSpecifically, the Vision and Language Navigation (VLN) task involves navigating\nto a goal purely from language instructions and visual information without\nexplicit knowledge of the goal. Recent successful approaches have made in-roads\nin achieving good success rates for this task but rely on beam search, which\nthoroughly explores a large number of trajectories and is unrealistic for\napplications such as robotics. In this paper, inspired by the intuition of\nviewing the problem as search on a navigation graph, we propose to use a\nprogress monitor developed in prior work as a learnable heuristic for search.\nWe then propose two modules incorporated into an end-to-end architecture: 1) A\nlearned mechanism to perform backtracking, which decides whether to continue\nmoving forward or roll back to a previous state (Regret Module) and 2) A\nmechanism to help the agent decide which direction to go next by showing\ndirections that are visited and their associated progress estimate (Progress\nMarker). Combined, the proposed approach significantly outperforms current\nstate-of-the-art methods using greedy action selection, with 5% absolute\nimprovement on the test server in success rates, and more importantly 8% on\nsuccess rates normalized by the path length. Our code is available at\nhttps://github.com/chihyaoma/regretful-agent .","url_abs":"http://arxiv.org/abs/1903.01602v1","url_pdf":"http://arxiv.org/pdf/1903.01602v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"the-regretful-agent-heuristic-aided","repo_url":"https://github.com/chihyaoma/regretful-agent","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null},{"paper_slug":"the-regretful-agent-heuristic-aided","repo_url":"https://github.com/CAVED123/regretful-agent","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"the-regretful-agent-heuristic-aided","repo_url":"https://github.com/cacosandon/are-you-looking","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"decision-making","task_name":"Decision Making"},{"task_slug":"vision-and-language-navigation","task_name":"Vision and Language Navigation"},{"task_slug":"vision-language-navigation","task_name":"Vision-Language Navigation"},{"task_slug":"visual-navigation","task_name":"Visual Navigation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/vision-and-language-navigation-on-vln","task":"Vision and Language Navigation","dataset":"VLN Challenge","model":"The Regretful Agent (no beam search; greedy action selection)","rank_in_archive_order":116,"of":145,"metrics":{"error":"5.69","length":"13.69","oracle success":"0.56","spl":"0.4","success":"0.48"},"uses_additional_data":false}],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1903.01602","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1903.01602"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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