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Persons with visual impairments (PwVI) have difficulties understanding andnavigating spaces around them. Current wayfinding technologies either focussolely on navigation or provide limited communication about the environment.Motivated by recent advances in visual-language grounding and semanticnavigation, we propose DRAGON, a guiding robot powered by a dialogue system andthe ability to associate the environment with natural language. Byunderstanding the commands from the user, DRAGON is able to guide the user tothe desired landmarks on the map, describe the environment, and answerquestions from visual observations. Through effective utilization of dialogue,the robot can ground the user's free-form descriptions to landmarks in theenvironment, and give the user semantic information through spoken language. Weconduct a user study with blindfolded participants in an everyday indoorenvironment. Our results demonstrate that DRAGON is able to communicate withthe user smoothly, provide a good guiding experience, and connect users withtheir surrounding environment in an intuitive manner.

DRAGON: A Dialogue-Based Robot for Assistive Navigation with Visual Language Grounding