diff --git a/predicators/approaches/active_sampler_learning_approach.py b/predicators/approaches/active_sampler_learning_approach.py
index 4de4eb8511..3ada097f1e 100644
--- a/predicators/approaches/active_sampler_learning_approach.py
+++ b/predicators/approaches/active_sampler_learning_approach.py
@@ -104,7 +104,11 @@ def _create_explorer(self) -> BaseExplorer:
         preds = self._get_current_predicates()
         # Pursue the task goal during exploration periodically.
         n = CFG.active_sampler_learning_explore_pursue_goal_interval
-        pursue_task_goal_first = (self._online_learning_cycle % n == 0)
+        pursue_task_goal_first = False
+        if self._online_learning_cycle < \
+            CFG.active_sampler_learning_init_cycles_to_pursue_goal or (
+                self._online_learning_cycle % n == 0):
+            pursue_task_goal_first = True
         explorer = create_explorer(
             CFG.explorer,
             preds,
diff --git a/predicators/settings.py b/predicators/settings.py
index b3fe92e663..f91edc4bfe 100644
--- a/predicators/settings.py
+++ b/predicators/settings.py
@@ -602,6 +602,7 @@ class GlobalSettings:
     active_sampler_explorer_replan_frequency = 100
     active_sampler_explorer_planning_progress_max_tasks = 10
     active_sampler_explorer_planning_progress_max_replan_tasks = 5
+    active_sampler_learning_init_cycles_to_pursue_goal = 1
 
     # grammar search invention parameters
     grammar_search_grammar_includes_givens = True