diff --git a/nav_src/prompt/planner_prompt.py b/nav_src/prompt/planner_prompt.py
index ff08717..ee463b0 100644
--- a/nav_src/prompt/planner_prompt.py
+++ b/nav_src/prompt/planner_prompt.py
@@ -244,16 +244,16 @@ Instruction: {action_plan}
 Initial Observation: {init_observation}
 Thought: I should start navigation according to the instruction, {agent_scratchpad}"""
 
-VLN_GPT35_PROMPT = """As an intelligent embodied agent, you will navigate an indoor environment to reach a target viewpoint based on a given instruction, performing the Vision and Language Navigation (VLN) task. You'll move among static positions within a pre-defined graph, aiming for minimal steps.
+VLN_GPT35_PROMPT = """As an intelligent embodied agent, you will navigate an indoor environment to reach a target viewpoint based on a given instruction, performing the Vision and Language Navigation (VLN) task. The instruction may be either feasible or infeasible (i.e., the specified object might not be found in the environment). You will move among static positions within a pre-defined graph, aiming for the nearest position to the object if the object is present.
 
 You will receive a trajectory instruction at the start and will have access to step history (your Thought, Action, Action Input and Obeservation after the Begin! sign) and current viewpoint observation (including scene descriptions, objects, and navigable directions/distances within 3 meters) during navigation. Orientations range from -180 to 180 degrees, with 0 being forward, right 90 rightward, right/left 180 backward, and left 90 leftward.
 
-Explore the environment while avoiding revisiting viewpoints by comparing current and previously visited IDs. Reach within 3 meters of the instructed destination, and if it's visible but no objects are detected, move closer.
-
+Explore the environment while avoiding revisiting viewpoints by comparing current and previously visited IDs. Reach the instructed destination as closely as possible. The task will fail if you do not reach within 3 meters of the instructed destination, even if it is observable. Therefore, if the destination is visible but you do not see the object within 3 meters, move closer.
 At each step, determine if you've reached the destination(If the object is more than three meters away from you, you are not considered to have reached the destination).
 If yes, stop and output 'Final Answer: Finished!'.
 If not, continue by considering your location and the next viewpoint based on the instruction, using the action_maker tool.
 And if you explored all room, you think this object doesn't exist in this room. stop and output 'Final Answer: Not found!'.
+If you find another room seems to be the closest match to the instruction but no viewpoint can access to this room. Please output "Final Answer: Not found!"
 Show your reasoning in the Thought section.
 
 Follow the given format and use provided tools.
@@ -280,7 +280,6 @@ Final Answer: Not found!
 ----
 
 Begin!
-
 Instruction: {action_plan}
 Initial Observation: {init_observation}
 Thought: I should start navigation according to the instruction, {agent_scratchpad}"""