How to use my own planner

[Fabio2497]

Hi, I am trying to use my own planner with obstacle avoidance to train the network; my planner return me just one trajectory rather than top 3 as you do; so I was wondering how can I integrate my own planner in your project? If anyone has already tried, please let me know how you did. Thank you.

[racheraven666]

Change modes variable in the config file to 1 might help. However, I believe the original version works better, because obstacle avoidance is a multi-modality problem. Reducing the modes might lead to confusion of the network.