About the problem of the agent getting stuck when turning in Habitat-Sim ,

[manainszu]

Because the Spot robot (dog) is so large, turning maneuvers are extremely difficult, often resulting in the agent becoming stuck. Is your evt_bench new action（OracleNavCoordinateActionForRobot） policy the Ground Truth policy used in your paper?
I would appreciate your quick answer on this matter.

[Yukuncn]

I face the same problem,do you solve it? Meanwhile,I would appreciate the author quick answer on this matter.

[wsakobe]

Hi, we used the OracleNavCoordinateActionForRobot() during the data collection process of TrackVLA and did not encounter the robot stuck phenomenon you mentioned. Could you please provide the visualization results so that I can better analyze the problem? In addition, please check if the allow_sliding parameter in the config file is set to True? This will also affect the robot's performance in narrow environments.

[Yukuncn]

like this https://github-production-user-asset-6210df.s3.amazonaws.com/72495976/528988334-e08ad79a-fe09-46d2-b959-9c67b95ec1da.mp4?X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=AKIAVCODYLSA53PQK4ZA%2F20260114%2Fus-east-1%2Fs3%2Faws4_request&X-Amz-Date=20260114T071837Z&X-Amz-Expires=300&X-Amz-Signature=3b3b8a580a6201040a4d58a90d6f792f765906d99311908800f2e2770c487d8f&X-Amz-SignedHeaders=host, I set allow sliding=true

[wsakobe]

Hi, maybe you can try reducing the robot's radius to increase the probability of the robot passing through narrow areas.

[Yukuncn]

Thanks for your reply!

[wlqcode]

您好，或许您可以尝试减小机器人的半径，以增加机器人通过狭窄区域的概率。

Where can I adjust the robot's radius to make it smaller? Thank you very much. I tried modifying https://github.com/wsakobe/TrackVLA/blob/main/habitat-lab/habitat/config/habitat/simulator/agents/spot.yaml, but it doesn't seem to have any effect.