[Question]: sometimes the pixel goal will behind the robot a lot ,why s1 can generate good traj?

[kingkids]

Question

sometimes the pixel goal will behind the robot a lot,that means the system use a very old pixel goal image,i am very confused about why s1 can still generate good traj with the pixel goal is behind so far to the robot.

[yuqiang-yang]

In our experiments, the pixel goal is always in front of the robot. The system2 tend to select a pixel goal about 2-3 meter away, then the system1 generates continuous trajectory to reach the goal. In our settings, the system2 infer at the frequency of about 1-2 hz. So before reaching the last pixel goal, the system2 will select a new pixel goal with the latest observations.