1099former(4l) and VLN Transformer(8l). FLPM frameworks
incorporate the PM-VLN module pretrained on auxiliary
tasks (ϕ1, ϕ2) - and one of VisualBERT (4l) or VLN Trans-
former(8l) as the main model. Performance on TC for both
of these transformer models doubles when integrated into
the framework. A comparison of results for standalone Vi-
sualBERT and VLN Transformer systems with path traces
supports the use of specific architectural components that
can exploit this additional input type. Lower SPD for sys-
tems run with the FLPM framework reflect a higher number
of routes where a stop action was predicted prior to route
completion. Although not a focus for the current research,
this shortcoming in VLN benchmarks has been addressed
in other work [39, 2].

4.3. Assessment of Specific Operations
APriorityMapforVision-and-LanguageNavigation withTrajectoryPlansandFeature-LocationCues