ϕ1

ϕ2

ϕ2

Development
TC↑
33.0

SPD↓ SED↑
29.5
23.6

11.9
13.6
4.7

19.8
23.9
6.3

20.1
20.5
27.6

23.2
20.8
25.1

11.5
13.1
1.9

17.2
20.3
4.6

Table 3: Assessment of the pretraining strategy for individual PM-
VLN submodules gP M T P (variants (f) to (h)) and gP M F (variants
(i) to (k) using alternative datasets for auxiliary tasks. Variants are
also run with no pretraining of gP M T P and gP M F .

ϕ1
APriorityMapforVision-and-LanguageNavigation withTrajectoryPlansandFeature-LocationCues