Does the navigation commands considered

[drilistbox]

Thanks for your great work, but I am confused about the navigation commands?

As M represents the number of future positions of the ego vehicle that the model aims to predict, and the waypoint decoder pred M waypoints.
Does the navigation commands, such as "turn left", "turn right" and "go straight" in vad, considered? Thus should predict 3M waypoints?

[liyingyanUCAS]

In the initial version, we do not use the navigation commands. If you want to use the navigation commands, you should predict 3M waypoints.