Vision-and-Language Navigation requires the agent to follow language instructions to navigate through 3D environments.

In this section, we present the training algorithm for Self-Tuning Networks. The full algorithm is showninAlg.2.

An automatic approach to adapting these hyperparameters would improve performance and simplifytheengineering process.

Foranypath , tmix( ) 2 ( )`( ) " log ( 1/ ) + log min Suppose w(y|x)= h (y)KRW(y, x) (x)KRW(x, y) , (4) whereh isabalancing PMTM induced 1 has stationarydistrib .

For each prediction task, we select features that have a causal influence on the target of prediction.

To achieve effective zero-shot semantic segmentation (ZSS), existing efforts have been made [2, 28,31,44,55,62]bytreating eachpixelasanindependent classification problem.