Vision-language navigation (VLN) is a key task in Embodied AI, requiring agents to navigate diverse and unseen environments while following natural language instructions. Traditional approaches rely heavily on historical observations as spatio-temporal contexts for decision making, leading to significant storage and computational overhead. In this paper, we introduce MapNav, a novel end-to-end VLN model that leverages Annotated Semantic Map (ASM) to replace historical frames. Specifically, our approach constructs a top-down semantic map at the start of each episode and update it at each timestep, allowing for precise object mapping and structured navigation information. Then, we enhance this map with explicit textual labels for key regions, transforming abstract semantics into clear navigation cues and generate our ASM. MapNav agent using the constructed ASM as input, and use the powerful end-to-end capabilities of VLM to empower VLN. Extensive experiments demonstrate that MapNav achieves state-of-the-art (SOTA) performance in both simulated and real-world environments, validating the effectiveness of our method. We will release our ASM generation source code and dataset to ensure reproducibility, contributing valuable resources to the field. We believe that our proposed MapNav can be used as a new memory representation method in VLN, paving the way for future research in this field.

Ensuring the effectiveness of text-based crisis counseling requires observing ongoing conversations and providing feedback, both labor-intensive tasks. Automatic analysis of conversations—at the full chat and utterance levels—may help support counselors and provide better care. While some session-level training data (e.g., rating of patient risk) is often available from counselors, labeling utterances requires expensive post hoc annotation. But the latter can not only provide insights about conversation dynamics, but can also serve to support quality assurance efforts for counselors. In this paper, we examine if inexpensive—and potentially noisy—session-level annotation can help improve label utterances. To this end, we propose a logic-based indirect supervision approach that exploits declaratively stated structural dependencies between both levels of annotation to improve utterance modeling. We show that adding these rules gives an improvement of 3.5% f-score over a strong multi-task baseline for utterance-level predictions. We demonstrate via ablation studies how indirect supervision via logic rules also improves the consistency and robustness of the system.