About object navigation and obstacle avoidance

[youjishiguang]

Hello, thanks for the great work.

We deployed the LeLaN model on our robot (Autolabor), but two problems arose during operation:

1. When our robot navigates to a specific object target (white door, schoolbag), it will walk in the direction of the left side of the object instead of going straight to the object.
2. After our robot navigates to the object target, it will not stop, but will continue to move forward and hit the target.

Looking forward to your response. Thank you very much.!

[NHirose]

Thank you for testing our policy on your robot. I answer for your issues.

1. if you are using "with_col_loss.pth" check point, please try to change it into "wo_col_loss_wo_temp.pth" or "wo_col_loss.pth". As we mentioned in the manuscript, the policy with the robotic foundation model's supervision sometime try to avoid the collision even for the target object unfortunately.
2. Yes. Our robot has same issue. We need to stop the robot by something else. In our case, we use the bumper sensor to detect the touching the object and give the zero velocity command.