Collision avoidance issue with ViNT model

[han-kyung-min]

Thank you for making the ViNT model available to the public.

While attempting to run the ViNT model, I encountered an issue that I need your help with. I successfully created topological map images and then launched "navigation.py" to drive my robot, following the tutorial provided in this link

I generated the topological map images based on a very simple trajectory, as demonstrated in this folder. My objective is to guide the robot to follow this trajectory.

However, my robot is experiencing inaccurate turning decisions, leading to collisions with walls. You can view the experiment's results in this video . There were human interventions at 43s and 1min 6s to prevent collisions.

I'm wondering if you could offer any advice on what might be missing. I believe I've made all necessary modifications to the names of ROS topics and parameters. ViNT ran zero-shot w/o any extra training.

For your reference, here are the specifications of my robot and sensors:

Robot: A differential drive robot (details available at this link) Camera: ELP USB Fisheye Camera 180 Degree 1080P Lightburn Camera OS/ROS: Ubuntu 20.04 / Noetic GPU (on the PC): 3070ti