How to build Goal Point Vocabulary?

[mono0826]

Hello, I don't quite understand the part about building the Goal Point Vocabulary while reading the paper. Could you explain it to me?

[fengjiang5]

Hello, I have a same question.

Could you please tell me how the ground truth DAC score for each goal point is generated? I couldn't find any related implementation in the code.

[ZebinX]

@mono0826 The vocab is generated by using k-means on endpoints of the gt-trajectory based on navtrain. You can refer to issue 5 for details.

[ZebinX]

@fengjiang5 Hi, you can refer to issue29 for details.