diff --git a/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp
index 9c1807f90a3..42082f58aa3 100644
--- a/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp
+++ b/ros/src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp
@@ -580,7 +580,7 @@ int main(int argc, char** argv)
     if (crosswalk.loaded_all && !crosswalk.set_points)
       crosswalk.setCrossWalkPoints();
 
-    if (!vs_info.getSetPose() || !vs_path.getSetPath())
+    if (!vs_info.getSetPose() || !vs_path.getSetPath() || vs_path.getPrevWaypointsSize() == 0)
     {
       loop_rate.sleep();
       continue;