diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp
index 595bdf0ddd20cd91ee5452ea168fcb670821a17a..0cbf7e730f56186618f92c0a74be2b5dc5ad0f5a 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp
@@ -92,9 +92,15 @@ armarx::ObstacleAvoidingPlatformUnitHelper::update()
         m_waypoint_changed = true;
     }
 
+    // Only call `moveTo` on platform unit if the target actually changed, as `update` is designed
+    // to be called within a high-frequency loop.  Prevents constantly invalidating the buffers in
+    // platform unit.
     if (m_waypoint_changed)
     {
-        // Get thresholds depending on waypoint or final target (last waypoint).
+        // Use reached-thresholds regardless of whether this is the final target or just a waypoint.
+        // The near-thresholds are more unconstrained as the reached-thresholds, so this helper will
+        // change the position target before the unit will actually reach it, preventing slow downs
+        // or stops.
         const float pos_thresh = m_cfg.pos_reached_threshold;
         const float ori_thresh = m_cfg.ori_reached_threshold;