In 2008, hike guide and Kauai extreme hiker, Eric Rohlffs, descended into Milolii Valley along the steep-cliffed Na Pali Coast on Kauai. The pic above is the mouth of Milolii taken from a vantage point on the ocean. Rohlffs descended the ridge on the righthand side of the valley mouth. He posted the pics below.
Others have likely descended this route, including volcantrek8, who issued the following warning:
The bushwhack descent into Milolii is hazardous with fatal drops aplenty. Noted Kauai photographer, author and Kauai Natural History Expert David Boynton was killed on the decent to Milolii in 2007. The descent is not recommended and these photos are only intended to show the variety of wilderness experiences and magnificent views off the established routes. There is no trail. Goats get weak kneed. Much KKKK (crumbly cliffs of Kauai clay). Bring your own handholds.