diff --git a/map_nav_src/reverie/agent_obj.py b/map_nav_src/reverie/agent_obj.py
index d343d9d..2222493 100644
--- a/map_nav_src/reverie/agent_obj.py
+++ b/map_nav_src/reverie/agent_obj.py
@@ -324,7 +324,8 @@ class GMapObjectNavAgent(Seq2SeqAgent):
         ml_loss = 0.     
         og_loss = 0.   
 
-        for t in range(self.args.max_action_len):
+        # for t in range(self.args.max_action_len):
+        for t in range(1):
             for i, gmap in enumerate(gmaps):
                 if not ended[i]:
                     gmap.node_step_ids[obs[i]['viewpoint']] = t + 1
diff --git a/map_nav_src/reverie/env.py b/map_nav_src/reverie/env.py
index 8ee8056..92c83d6 100644
--- a/map_nav_src/reverie/env.py
+++ b/map_nav_src/reverie/env.py
@@ -339,7 +339,7 @@ class ReverieObjectNavBatch(object):
         self._next_minibatch(**kwargs)
         
         scanIds = [item['scan'] for item in self.batch]
-        viewpointIds = [item['path'][0] for item in self.batch]
+        viewpointIds = [item['path'][-1] for item in self.batch]
         headings = [item['heading'] for item in self.batch]
         self.env.newEpisodes(scanIds, viewpointIds, headings)
         return self._get_obs()
@@ -357,7 +357,7 @@ class ReverieObjectNavBatch(object):
         shortest_distances = self.shortest_distances[scan]
 
         path = sum(pred_path, [])
-        assert gt_path[0] == path[0], 'Result trajectories should include the start position'
+        # assert gt_path[0] == path[0], 'Result trajectories should include the start position'
 
         scores['action_steps'] = len(pred_path) - 1
         scores['trajectory_steps'] = len(path) - 1