[Question]: How to run InternVLA-N1 (System 2) with Decoupled System1

[zlm646]

Question

Hi:
Thanks for the excellent work. I have managed to run NavDP in our robot, but I have got a question here: how to run InternVLA-N1 (System 2) with Decoupled System1? Since the output of System 2 is pixel goal but NavDP only accepts image goal and point goal.
Looking forward for your reply.

[kellyiss]

You can use depth and localization to transform the pixel goal to point goal