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Local predicted trajectory; measured poses are in trajectory.json.
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<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<0.0 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go straight to the plant and stop</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|> <|im_start|>assistant
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"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<0.0 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go straight to the plant and stop</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
"tensor_shapes": {
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1,
195
],
"attention_mask": [
1,
195
],
"pixel_values_videos": [
1,
448,
1536
],
"video_grid_thw": [
1,
3
],
"_original_video_grid_thw": [
1,
3
],
"_post_vit_pool_factors": [
1
],
"position_ids": [
1,
3,
195
],
"mm_token_type_ids": [
1,
195
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}
},
"history_fps": 4
},
"native_latency_ms": 716.2200668826699
},
"response": {
"type": "step",
"actions": [
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],
[
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[
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0.04224170185625553
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[
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[
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[
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0.00048491853530002456,
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],
[
0.03681039111050989,
0.0002048638845744376,
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],
[
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0.0
],
[
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0.0
]
],
"stop": false,
"plan": null,
"valid_actions": 10,
"action_semantics": "body_increment_goals",
"action_dt_s": null,
"units": "m_m_rad",
"robot_ready": true,
"padding": "zero_tail_not_stop",
"stop_semantics": "no_terminal_claim",
"episode_id": "episode-20261018-180655-9af5d65b",
"inference_id": 0,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.906584785785526,
"peak_memory_bytes": 9156336128,
"load_count": 1,
"total_seconds": 0.9169437950477004
}
{
"frame": "m_m_rad",
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[
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0.0,
0.0
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[
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[
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[
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[
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[
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0.02979862503707409
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[
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[
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0.007171310484409332,
0.044231392443180084
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[
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0.0033924449235200947
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[
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0.013091428205370903,
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[
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0.013246030546724796,
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]
],
"observed_poses": [
[
0.0,
0.0,
0.0
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go straight to the plant and stop",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-180655-9af5d65b/steps/000000/input-000.jpg",
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"pose": [
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0.0,
0.0
],
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"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-180655-9af5d65b/steps/000001/input-000.jpg",
"sha256": "43f57be061b39568299816364bc59fe07fade0bd7906429f373f7f3b47992bd2",
"pose": [
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],
"timestamp": 0.25,
"observation_id": 1
}
],
"time_resampled_indices": [
0,
1
],
"model": "lightnav",
"pose_conditioning": "not fed to these REAL adapters",
"client_plan_used": false,
"history_sampling": {
"method": "nearest captured observation per occupied 4Hz bin; empty bins omitted",
"max_capture_gap_s": 0.25,
"unobserved_time_filled": false
},
"history_indices": [
0,
1
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
}
],
"prompt": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go straight to the plant and stop</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
"tokenized": {
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"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go straight to the plant and stop</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
"tensor_shapes": {
"input_ids": [
1,
195
],
"attention_mask": [
1,
195
],
"pixel_values_videos": [
1,
448,
1536
],
"video_grid_thw": [
1,
3
],
"_original_video_grid_thw": [
1,
3
],
"_post_vit_pool_factors": [
1
],
"position_ids": [
1,
3,
195
],
"mm_token_type_ids": [
1,
195
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-180655-9af5d65b/steps/000000/input-000.jpg",
"sha256": "59b09b0224573742d0207f284d0962b7e3be7a416bb362d52c20bcf12a035312",
"pose": [
0.0,
0.0,
0.0
],
"timestamp": 0.0,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-180655-9af5d65b/steps/000001/input-000.jpg",
"sha256": "43f57be061b39568299816364bc59fe07fade0bd7906429f373f7f3b47992bd2",
"pose": [
1.1682072877883911,
0.013246030546724796,
-0.0024577178992330963
],
"timestamp": 0.25,
"observation_id": 1
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go straight to the plant and stop</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|> <|im_start|>assistant
{
"status": "ok",
"native": {
"actions": [
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0.0010990528389811516,
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],
[
0.10557457397259686,
9.906349784970193e-05,
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],
[
0.0895393665005311,
0.0016234232672114445,
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],
[
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],
[
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],
[
0.1189709325612317,
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0.01619674451649189
],
[
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],
[
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[
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[
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0.00948640611022711
]
],
"stop": false,
"plan": null,
"raw": "<apos_1128><opos_745><act_l0_75><act_l1_85><act_l2_33><|im_end|>",
"waypoints": [
[
0.1345495730638504,
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],
[
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],
[
0.3296598792076111,
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],
[
0.40698984265327454,
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],
[
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],
[
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],
[
0.7644416093826294,
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],
[
0.860741138458252,
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],
[
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],
[
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]
],
"pointing": {
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},
"rvq_codes": [
75,
85,
33
],
"model_input": {
"history_indices": [
0,
1
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
}
],
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Local predicted trajectory; measured poses are in trajectory.json.
{
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231
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231
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