Ablation 1: PM-VLN Prioritisation in the PM-VLN
module constitutes a sequential chain of operations. Table 2
reports results for variants of the framework where the PM-
VLN excludes individual operations. Starting with gP M T P ,
trajectory estimation is replaced with a fixed count of 34
steps for each route trt (see variant (a)). This deprives the
PM-VLN of a method to take account of the current route
when synchronising τ and sequences of visual inputs. All
subsequent operations are impacted and the variant reports
low scores for all metrics. Two experiments are then con-
ducted on gP M F .
In variant (b), visual boost filtering is
disabled and feature-level localisation relies on a base ψt.
A variant excluding linguistic components from gP M F is
then implemented by specifying ıt as the default input from

τt (see variant (c)). In practice, span selection in this case
is based on trajectory estimation only.
APriorityMapforVision-and-LanguageNavigation withTrajectoryPlansandFeature-LocationCues