Possibility of staying still after R2 is activated

[OlalekanIsola]

My question is: Is the continuous movement after the R2 button is pressed, part of the deployment code or the training process?

Is it possible for the robot to remain still until the forward velocity button is pushed, even if the policy has already been activated rather than continuous step frequency of 3Hz? Additionally, could this behaviour potentially impact power consumption?

[whenwherewhy]

I also have this question, I feel that this is the drift of the robot step, do you have any new progress?