{
"model": "lightnav",
"checkpoint": "/home/siqiteam/real_baseline_deploy/assets/final/lightnav_real/checkpoint",
"ready": true,
"busy": false,
"episode": null,
"worker": {
"status": "ready",
"model": "lightnav",
"load_seconds": 24.980417925864458,
"checkpoint": "/home/siqiteam/real_baseline_deploy/assets/final/lightnav_real/checkpoint",
"load_count": 1,
"device_name": "NVIDIA RTX PRO 6000 Blackwell Workstation Edition"
},
"robot_calibrated": true
}Episodes ยท Download episode{
"schema": "real-baseline-v1",
"model": "lightnav",
"checkpoint": "/home/siqiteam/real_baseline_deploy/assets/final/lightnav_real/checkpoint",
"epoch": 18,
"step": 246474,
"instruction": "go to the vending machine",
"client_plan": [
"go to the vending machine"
],
"task_condition": "full original instruction; supplied stages logged only",
"configuration": {
"model": "lightnav",
"project": "/home/siqiteam/real_baseline_deploy/final_service_state/project",
"checkpoint": "/home/siqiteam/real_baseline_deploy/assets/final/lightnav_real/checkpoint",
"epoch": 18,
"step": 246474,
"worker_python": "/home/siqiteam/real_baseline_deploy/envs/lightnav/bin/python",
"host": "127.0.0.1",
"ws_port": 5931,
"http_port": 5930,
"seed": 42,
"wire_horizon": 12,
"action_semantics": "body_increment_goals",
"action_dt_s": null,
"robot_calibrated": true,
"require_timestamps": true,
"log_root": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs"
},
"worker": {
"status": "ready",
"model": "lightnav",
"load_seconds": 25.280952685978264,
"checkpoint": "/home/siqiteam/real_baseline_deploy/assets/final/lightnav_real/checkpoint",
"load_count": 1,
"device_name": "NVIDIA RTX PRO 6000 Blackwell Workstation Edition"
},
"status": "closed",
"started_at": 1792327515.731251,
"units": "m_m_rad",
"robot_execution_tested": false,
"ended_at": 1792327573.692691,
"end_reason": "flush"
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the vending machine",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
}
],
"time_resampled_indices": [
0
],
"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": 0.0,
"unobserved_time_filled": false
},
"history_indices": [
0
],
"segments": [
{
"indices": [
0,
0
],
"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:<0.0 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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
15,
13,
15,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"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 to the vending machine</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,
193
],
"attention_mask": [
1,
193
],
"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,
193
],
"mm_token_type_ids": [
1,
193
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
}
]
}
<|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 to the vending machine</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": [
[
-0.005169909447431564,
0.003921105060726404,
-0.29026472568511963
],
[
0.15340202483322327,
-0.005276586695514028,
-0.03751492500305176
],
[
0.1600992959276453,
0.007250793620643889,
0.07346084713935852
],
[
0.12649271521905978,
0.0028336335966696567,
-0.003877401351928711
],
[
0.07411089469589566,
0.003984210087958217,
0.04496540129184723
],
[
0.08680730895167346,
0.002201676730087594,
0.05353459715843201
],
[
0.1099457429349286,
0.00013968786170655279,
0.05250015854835511
],
[
0.13532589030986958,
-8.169953222928253e-05,
0.07673770189285278
],
[
0.12845467212792944,
0.00012879035664142575,
0.034219357650727034
],
[
0.1072658391507987,
5.4277332428412524e-05,
0.008979131001979113
]
],
"stop": false,
"plan": null,
"raw": "<apos_1182><opos_467><act_l0_27><act_l1_173><act_l2_228><|im_end|>",
"waypoints": [
[
-0.005169909447431564,
0.003921105060726404,
-0.29026472568511963
],
[
0.140304833650589,
-0.04503931477665901,
-0.3277796506881714
],
[
0.2942146956920624,
-0.08971719443798065,
-0.25431880354881287
],
[
0.4173516631126404,
-0.11879852414131165,
-0.2581962049007416
],
[
0.49002325534820557,
-0.13386963307857513,
-0.21323080360889435
],
[
0.5753304958343506,
-0.1500878632068634,
-0.15969620645046234
],
[
0.683899462223053,
-0.16743333637714386,
-0.10719604790210724
],
[
0.8184398412704468,
-0.18199320137500763,
-0.030458346009254456
],
[
0.9468388557434082,
-0.18577638268470764,
0.003761011641472578
],
[
1.0541037321090698,
-0.18531867861747742,
0.01274014264345169
]
],
"pointing": {
"apos": 1182,
"opos": 467
},
"rvq_codes": [
27,
173,
228
],
"model_input": {
"history_indices": [
0
],
"segments": [
{
"indices": [
0,
0
],
"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:<0.0 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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
15,
13,
15,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"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 to the vending machine</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,
193
],
"attention_mask": [
1,
193
],
"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,
193
],
"mm_token_type_ids": [
1,
193
]
}
},
"history_fps": 4
},
"native_latency_ms": 199.3828359991312
},
"response": {
"type": "step",
"actions": [
[
-0.005169909447431564,
0.003921105060726404,
-0.29026472568511963
],
[
0.15340202483322327,
-0.005276586695514028,
-0.03751492500305176
],
[
0.1600992959276453,
0.007250793620643889,
0.07346084713935852
],
[
0.12649271521905978,
0.0028336335966696567,
-0.003877401351928711
],
[
0.07411089469589566,
0.003984210087958217,
0.04496540129184723
],
[
0.08680730895167346,
0.002201676730087594,
0.05353459715843201
],
[
0.1099457429349286,
0.00013968786170655279,
0.05250015854835511
],
[
0.13532589030986958,
-8.169953222928253e-05,
0.07673770189285278
],
[
0.12845467212792944,
0.00012879035664142575,
0.034219357650727034
],
[
0.1072658391507987,
5.4277332428412524e-05,
0.008979131001979113
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
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-20261018-204515-1d22f2ef",
"inference_id": 0,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.22875489993020892,
"peak_memory_bytes": 9155978752,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.23048918787389994
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
-0.005169909447431564,
0.003921105060726404,
-0.29026472568511963
],
[
0.14030483365058902,
-0.04503931477665901,
-0.3277796506881714
],
[
0.29421469569206243,
-0.08971719443798065,
-0.2543188035488129
],
[
0.41735166311264044,
-0.11879852414131166,
-0.25819620490074163
],
[
0.4900232553482056,
-0.13386963307857516,
-0.2132308036088944
],
[
0.5753304958343507,
-0.15008786320686346,
-0.1596962064504624
],
[
0.6838994622230531,
-0.16743333637714392,
-0.1071960479021073
],
[
0.8184398412704469,
-0.18199320137500768,
-0.03045834600925451
],
[
0.9468388557434083,
-0.1857763826847077,
0.0037610116414725225
],
[
1.05410373210907,
-0.1853186786174775,
0.012740142643451635
]
],
"observed_poses": [
[
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the vending machine",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
}
],
"time_resampled_indices": [
1,
2,
3,
4,
5,
6,
7,
8,
9,
10
],
"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": 2.4020065810000233,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
],
"segments": [
{
"indices": [
0,
1,
2,
3,
4,
5,
6,
7
],
"tensor": "processed/segment0.pt",
"shape": [
8,
3,
256,
448
]
},
{
"indices": [
8,
9
],
"tensor": "processed/segment1.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:<2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
337
],
"attention_mask": [
1,
337
],
"pixel_values_videos": [
1,
2240,
1536
],
"video_grid_thw": [
2,
3
],
"_original_video_grid_thw": [
2,
3
],
"_post_vit_pool_factors": [
2
],
"position_ids": [
1,
3,
337
],
"mm_token_type_ids": [
1,
337
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": [
[
0.09036106616258621,
-0.00854780524969101,
-0.07933519780635832
],
[
0.10013253355503998,
-0.002203392557827649,
-0.040511809289455414
],
[
0.12152415384475167,
-0.0025379153426288454,
-0.010040663182735441
],
[
0.1357044850874868,
0.0021825758311786736,
0.02477686107158661
],
[
0.13993069425714283,
0.0038809423963058094,
0.05462489277124404
],
[
0.14268558118621516,
0.0013858251468004375,
0.01077544316649437
],
[
0.14119131539298763,
0.0015423066273897645,
0.014237333089113237
],
[
0.10790080039850018,
0.0008758258770239105,
0.0027275271713733673
],
[
0.110499321932397,
0.0011414512932267581,
0.0208220100030303
],
[
0.15153139924181264,
0.0003001814582081182,
0.009809867478907108
]
],
"stop": false,
"plan": null,
"raw": "<apos_987><opos_602><act_l0_131><act_l1_107><act_l2_79><|im_end|>",
"waypoints": [
[
0.09036106616258621,
-0.00854780524969101,
-0.07933519780635834
],
[
0.19000402092933655,
-0.018679970875382423,
-0.11984700709581375
],
[
0.31035304069519043,
-0.035729147493839264,
-0.1298876702785492
],
[
0.44519710540771484,
-0.05114177614450455,
-0.10511080920696259
],
[
0.584762692451477,
-0.061963412910699844,
-0.050485916435718536
],
[
0.7273364067077637,
-0.06777990609407425,
-0.03971047326922417
],
[
0.8684776425361633,
-0.07184411585330963,
-0.02547314018011093
],
[
0.9763657450675964,
-0.07371684908866882,
-0.022745613008737564
],
[
1.0868624448776245,
-0.07508885115385056,
-0.001923603005707264
],
[
1.2383941411972046,
-0.07508015632629395,
0.007886264473199844
]
],
"pointing": {
"apos": 987,
"opos": 602
},
"rvq_codes": [
131,
107,
79
],
"model_input": {
"history_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
],
"segments": [
{
"indices": [
0,
1,
2,
3,
4,
5,
6,
7
],
"tensor": "processed/segment0.pt",
"shape": [
8,
3,
256,
448
]
},
{
"indices": [
8,
9
],
"tensor": "processed/segment1.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:<2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
337
],
"attention_mask": [
1,
337
],
"pixel_values_videos": [
1,
2240,
1536
],
"video_grid_thw": [
2,
3
],
"_original_video_grid_thw": [
2,
3
],
"_post_vit_pool_factors": [
2
],
"position_ids": [
1,
3,
337
],
"mm_token_type_ids": [
1,
337
]
}
},
"history_fps": 4
},
"native_latency_ms": 205.50275407731533
},
"response": {
"type": "step",
"actions": [
[
0.09036106616258621,
-0.00854780524969101,
-0.07933519780635832
],
[
0.10013253355503998,
-0.002203392557827649,
-0.040511809289455414
],
[
0.12152415384475167,
-0.0025379153426288454,
-0.010040663182735441
],
[
0.1357044850874868,
0.0021825758311786736,
0.02477686107158661
],
[
0.13993069425714283,
0.0038809423963058094,
0.05462489277124404
],
[
0.14268558118621516,
0.0013858251468004375,
0.01077544316649437
],
[
0.14119131539298763,
0.0015423066273897645,
0.014237333089113237
],
[
0.10790080039850018,
0.0008758258770239105,
0.0027275271713733673
],
[
0.110499321932397,
0.0011414512932267581,
0.0208220100030303
],
[
0.15153139924181264,
0.0003001814582081182,
0.009809867478907108
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
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-20261018-204515-1d22f2ef",
"inference_id": 1,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.26523204427212477,
"peak_memory_bytes": 9208145408,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.2683954732492566
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.09036106616258621,
-0.00854780524969101,
-0.07933519780635831
],
[
0.19000402092933655,
-0.018679970875382423,
-0.11984700709581372
],
[
0.31035304069519043,
-0.03572914749383926,
-0.12988767027854917
],
[
0.44519710540771484,
-0.05114177614450453,
-0.10511080920696256
],
[
0.584762692451477,
-0.06196341291069982,
-0.050485916435718516
],
[
0.7273364067077637,
-0.06777990609407422,
-0.03971047326922414
],
[
0.8684776425361633,
-0.0718441158533096,
-0.025473140180110904
],
[
0.9763657450675964,
-0.07371684908866878,
-0.022745613008737533
],
[
1.0868624448776245,
-0.07508885115385051,
-0.0019236030057072325
],
[
1.2383941411972046,
-0.0750801563262939,
0.007886264473199876
]
],
"observed_poses": [
[
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
[
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
[
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
[
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
[
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
[
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
[
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
[
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
[
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
[
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
[
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the vending machine",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-000.jpg",
"sha256": "f33e3669a6983589ab75a83495cfd83044427668278423b9abab2b2535171bcb",
"pose": [
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
"timestamp": 5937.219796418,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-001.jpg",
"sha256": "9b573fbead811b489e13ee19daf07f288f8cf49f47ab32811a1834ed8b018bc3",
"pose": [
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
"timestamp": 5937.752541211,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-002.jpg",
"sha256": "55c56b5f8b1736889adb965bd2ba788f783e90b4c2f8a65ba03a10e6a3ba65ad",
"pose": [
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
"timestamp": 5938.353692461,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-003.jpg",
"sha256": "8f9daf7116062defaeea2d137befe9ecee05c945a8c8f670ad4798659d405d51",
"pose": [
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
"timestamp": 5938.955933154,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-004.jpg",
"sha256": "9384301476813624cee1a6272228f26d90f9f74f18041c20cb3cded5103db030",
"pose": [
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
"timestamp": 5939.691742176,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-005.jpg",
"sha256": "efd37326a54b3ce82684fd4bef868971b64089bfd1f46670e448b66d1b908b1a",
"pose": [
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
"timestamp": 5940.356685017,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-006.jpg",
"sha256": "6b9f5cf163e996f40dd6df3fb65aecf59c82e94323855eb4288a7f073a20281b",
"pose": [
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
"timestamp": 5941.09041535,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-007.jpg",
"sha256": "b6bf461e4c11c91df3971e6a3dbff82206a0e63d5e486ad2d491a1c787975f3d",
"pose": [
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
"timestamp": 5941.625273426,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-008.jpg",
"sha256": "cb21f9b2a337e3ee0aaf87aa46506f1f27316f483dcb0fdcbe8d0083dbad938d",
"pose": [
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
"timestamp": 5942.224465574,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-009.jpg",
"sha256": "6f43edf0e4bd8847e5b4c45d517534b10700223791bfa0a51144cd9176462dd2",
"pose": [
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
"timestamp": 5942.894281752,
"observation_id": 20
}
],
"time_resampled_indices": [
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20
],
"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": 2.4020065810000233,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19
],
"segments": [
{
"indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17
],
"tensor": "processed/segment0.pt",
"shape": [
18,
3,
256,
448
]
},
{
"indices": [
18,
19
],
"tensor": "processed/segment1.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:<4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
517
],
"attention_mask": [
1,
517
],
"pixel_values_videos": [
1,
4480,
1536
],
"video_grid_thw": [
2,
3
],
"_original_video_grid_thw": [
2,
3
],
"_post_vit_pool_factors": [
2
],
"position_ids": [
1,
3,
517
],
"mm_token_type_ids": [
1,
517
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-000.jpg",
"sha256": "f33e3669a6983589ab75a83495cfd83044427668278423b9abab2b2535171bcb",
"pose": [
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
"timestamp": 5937.219796418,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-001.jpg",
"sha256": "9b573fbead811b489e13ee19daf07f288f8cf49f47ab32811a1834ed8b018bc3",
"pose": [
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
"timestamp": 5937.752541211,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-002.jpg",
"sha256": "55c56b5f8b1736889adb965bd2ba788f783e90b4c2f8a65ba03a10e6a3ba65ad",
"pose": [
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
"timestamp": 5938.353692461,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-003.jpg",
"sha256": "8f9daf7116062defaeea2d137befe9ecee05c945a8c8f670ad4798659d405d51",
"pose": [
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
"timestamp": 5938.955933154,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-004.jpg",
"sha256": "9384301476813624cee1a6272228f26d90f9f74f18041c20cb3cded5103db030",
"pose": [
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
"timestamp": 5939.691742176,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-005.jpg",
"sha256": "efd37326a54b3ce82684fd4bef868971b64089bfd1f46670e448b66d1b908b1a",
"pose": [
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
"timestamp": 5940.356685017,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-006.jpg",
"sha256": "6b9f5cf163e996f40dd6df3fb65aecf59c82e94323855eb4288a7f073a20281b",
"pose": [
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
"timestamp": 5941.09041535,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-007.jpg",
"sha256": "b6bf461e4c11c91df3971e6a3dbff82206a0e63d5e486ad2d491a1c787975f3d",
"pose": [
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
"timestamp": 5941.625273426,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-008.jpg",
"sha256": "cb21f9b2a337e3ee0aaf87aa46506f1f27316f483dcb0fdcbe8d0083dbad938d",
"pose": [
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
"timestamp": 5942.224465574,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-009.jpg",
"sha256": "6f43edf0e4bd8847e5b4c45d517534b10700223791bfa0a51144cd9176462dd2",
"pose": [
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
"timestamp": 5942.894281752,
"observation_id": 20
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": [
[
0.09502193331718445,
0.0005540569545701146,
0.0017315647564828396
],
[
0.11009662549227632,
-0.00042691948703426784,
-0.0038483308162540197
],
[
0.07217438169743053,
0.0015633923318721017,
0.0052406033501029015
],
[
0.06904997176126393,
0.00171036113468372,
0.005930064478889108
],
[
0.1093140831174048,
0.00200014248468775,
0.0833856677636504
],
[
0.12310254252322977,
0.0014316021458410568,
0.030102938413619995
],
[
0.14729710571913673,
-0.00053067199353099,
-0.04314941167831421
],
[
0.1048013484974029,
-0.00037852511858442635,
-0.058532325550913804
],
[
0.005185214012434363,
-0.00022137475051876252,
-0.012625003233551977
],
[
0.006514902856143423,
0.0001246680801265143,
0.003970419988036156
]
],
"stop": false,
"plan": null,
"raw": "<apos_1080><opos_702><act_l0_75><act_l1_107><act_l2_22><|im_end|>",
"waypoints": [
[
0.09502193331718445,
0.0005540569545701146,
0.0017315647564828396
],
[
0.20511913299560547,
0.0003177774487994611,
-0.00211676605977118
],
[
0.27729666233062744,
0.001728390110656619,
0.0031238372903317213
],
[
0.34634095430374146,
0.0036544434260576963,
0.009053901769220829
],
[
0.45563244819641113,
0.006644209381192923,
0.09243956953287125
],
[
0.5780772566795349,
0.019433045759797096,
0.12254250794649124
],
[
0.7243346571922302,
0.03691136837005615,
0.07939309626817703
],
[
0.8288359045982361,
0.04484580084681511,
0.020860770717263222
],
[
0.8340246081352234,
0.04473263397812843,
0.008235767483711243
],
[
0.8405382633209229,
0.04491095244884491,
0.012206187471747398
]
],
"pointing": {
"apos": 1080,
"opos": 702
},
"rvq_codes": [
75,
107,
22
],
"model_input": {
"history_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19
],
"segments": [
{
"indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17
],
"tensor": "processed/segment0.pt",
"shape": [
18,
3,
256,
448
]
},
{
"indices": [
18,
19
],
"tensor": "processed/segment1.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:<4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
517
],
"attention_mask": [
1,
517
],
"pixel_values_videos": [
1,
4480,
1536
],
"video_grid_thw": [
2,
3
],
"_original_video_grid_thw": [
2,
3
],
"_post_vit_pool_factors": [
2
],
"position_ids": [
1,
3,
517
],
"mm_token_type_ids": [
1,
517
]
}
},
"history_fps": 4
},
"native_latency_ms": 209.78033263236284
},
"response": {
"type": "step",
"actions": [
[
0.09502193331718445,
0.0005540569545701146,
0.0017315647564828396
],
[
0.11009662549227632,
-0.00042691948703426784,
-0.0038483308162540197
],
[
0.07217438169743053,
0.0015633923318721017,
0.0052406033501029015
],
[
0.06904997176126393,
0.00171036113468372,
0.005930064478889108
],
[
0.1093140831174048,
0.00200014248468775,
0.0833856677636504
],
[
0.12310254252322977,
0.0014316021458410568,
0.030102938413619995
],
[
0.14729710571913673,
-0.00053067199353099,
-0.04314941167831421
],
[
0.1048013484974029,
-0.00037852511858442635,
-0.058532325550913804
],
[
0.005185214012434363,
-0.00022137475051876252,
-0.012625003233551977
],
[
0.006514902856143423,
0.0001246680801265143,
0.003970419988036156
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
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-20261018-204515-1d22f2ef",
"inference_id": 2,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.30200748424977064,
"peak_memory_bytes": 9314054144,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.3051886949688196
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.09502193331718445,
0.0005540569545701146,
0.0017315647564828396
],
[
0.20511913299560547,
0.00031777744879946107,
-0.0021167660597711797
],
[
0.27729666233062744,
0.0017283901106566193,
0.0031238372903317217
],
[
0.34634095430374146,
0.0036544434260576963,
0.00905390176922083
],
[
0.45563244819641113,
0.006644209381192923,
0.09243956953287123
],
[
0.5780772566795349,
0.019433045759797096,
0.12254250794649121
],
[
0.7243346571922302,
0.03691136837005615,
0.079393096268177
],
[
0.828835904598236,
0.04484580084681511,
0.0208607707172632
],
[
0.8340246081352233,
0.04473263397812843,
0.008235767483711225
],
[
0.8405382633209227,
0.04491095244884491,
0.012206187471747381
]
],
"observed_poses": [
[
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
[
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
[
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
[
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
[
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
[
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
[
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
[
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
[
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
[
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
[
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
[
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
[
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
[
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
[
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
[
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
[
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
[
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
[
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
[
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
[
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the vending machine",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-000.jpg",
"sha256": "f33e3669a6983589ab75a83495cfd83044427668278423b9abab2b2535171bcb",
"pose": [
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
"timestamp": 5937.219796418,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-001.jpg",
"sha256": "9b573fbead811b489e13ee19daf07f288f8cf49f47ab32811a1834ed8b018bc3",
"pose": [
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
"timestamp": 5937.752541211,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-002.jpg",
"sha256": "55c56b5f8b1736889adb965bd2ba788f783e90b4c2f8a65ba03a10e6a3ba65ad",
"pose": [
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
"timestamp": 5938.353692461,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-003.jpg",
"sha256": "8f9daf7116062defaeea2d137befe9ecee05c945a8c8f670ad4798659d405d51",
"pose": [
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
"timestamp": 5938.955933154,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-004.jpg",
"sha256": "9384301476813624cee1a6272228f26d90f9f74f18041c20cb3cded5103db030",
"pose": [
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
"timestamp": 5939.691742176,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-005.jpg",
"sha256": "efd37326a54b3ce82684fd4bef868971b64089bfd1f46670e448b66d1b908b1a",
"pose": [
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
"timestamp": 5940.356685017,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-006.jpg",
"sha256": "6b9f5cf163e996f40dd6df3fb65aecf59c82e94323855eb4288a7f073a20281b",
"pose": [
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
"timestamp": 5941.09041535,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-007.jpg",
"sha256": "b6bf461e4c11c91df3971e6a3dbff82206a0e63d5e486ad2d491a1c787975f3d",
"pose": [
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
"timestamp": 5941.625273426,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-008.jpg",
"sha256": "cb21f9b2a337e3ee0aaf87aa46506f1f27316f483dcb0fdcbe8d0083dbad938d",
"pose": [
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
"timestamp": 5942.224465574,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-009.jpg",
"sha256": "6f43edf0e4bd8847e5b4c45d517534b10700223791bfa0a51144cd9176462dd2",
"pose": [
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
"timestamp": 5942.894281752,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-000.jpg",
"sha256": "d39d3af6df2aeb5d74e8a7df679961513bba6b95b884e880fb97e29f0258977d",
"pose": [
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
"timestamp": 5943.759622306,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-001.jpg",
"sha256": "7b73f7d3d1c6a077064b85da79d893f7496c7cd37f460537831b4e99b2425f71",
"pose": [
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
"timestamp": 5944.361039324,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-002.jpg",
"sha256": "fab1d097d8f925d66380cfb916711d749674b399cf8cc639d57b675591aa689c",
"pose": [
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
"timestamp": 5944.761797213,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-003.jpg",
"sha256": "d3a3c576704a02f850f87954e047a6b9822e0f0b9f51421b6cc33a15ce044a28",
"pose": [
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
"timestamp": 5945.094937406,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-004.jpg",
"sha256": "54495944822a5ff39bbd713b248adbb97accfc03e568fc3a092834794238dc32",
"pose": [
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
"timestamp": 5945.696084272,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-005.jpg",
"sha256": "274348dfe896bea5d8ed31b4e29e7b37a5374eafd0839387e8a482c7f1ce545d",
"pose": [
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
"timestamp": 5946.295871383,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-006.jpg",
"sha256": "102f00e6304978607c8569b58a51c17f89a3688f154b49c55e4b5f0f1abf3d7c",
"pose": [
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
"timestamp": 5946.963119064,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-007.jpg",
"sha256": "4129fa54ad0c1d8790968a1d96686f9a79879b2d4cf5060d8a00f12ea15bd5a7",
"pose": [
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
"timestamp": 5947.497553063,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-008.jpg",
"sha256": "2dd0408fe593f9ac0d500730e7993d2e5b85bcce4251c844d37c8e80615703c0",
"pose": [
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
"timestamp": 5947.629493502,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-009.jpg",
"sha256": "fd2fa264bbce099ffb241dc2dc224d0af48f34f12cc64ad0f9d6f3c695da9822",
"pose": [
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
"timestamp": 5947.7672307,
"observation_id": 30
}
],
"time_resampled_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
30
],
"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": 2.4020065810000233,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29
],
"segments": [
{
"indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27
],
"tensor": "processed/segment0.pt",
"shape": [
28,
3,
256,
448
]
},
{
"indices": [
28,
29
],
"tensor": "processed/segment1.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:<7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
697
],
"attention_mask": [
1,
697
],
"pixel_values_videos": [
1,
6720,
1536
],
"video_grid_thw": [
2,
3
],
"_original_video_grid_thw": [
2,
3
],
"_post_vit_pool_factors": [
2
],
"position_ids": [
1,
3,
697
],
"mm_token_type_ids": [
1,
697
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-000.jpg",
"sha256": "f33e3669a6983589ab75a83495cfd83044427668278423b9abab2b2535171bcb",
"pose": [
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
"timestamp": 5937.219796418,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-001.jpg",
"sha256": "9b573fbead811b489e13ee19daf07f288f8cf49f47ab32811a1834ed8b018bc3",
"pose": [
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
"timestamp": 5937.752541211,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-002.jpg",
"sha256": "55c56b5f8b1736889adb965bd2ba788f783e90b4c2f8a65ba03a10e6a3ba65ad",
"pose": [
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
"timestamp": 5938.353692461,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-003.jpg",
"sha256": "8f9daf7116062defaeea2d137befe9ecee05c945a8c8f670ad4798659d405d51",
"pose": [
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
"timestamp": 5938.955933154,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-004.jpg",
"sha256": "9384301476813624cee1a6272228f26d90f9f74f18041c20cb3cded5103db030",
"pose": [
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
"timestamp": 5939.691742176,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-005.jpg",
"sha256": "efd37326a54b3ce82684fd4bef868971b64089bfd1f46670e448b66d1b908b1a",
"pose": [
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
"timestamp": 5940.356685017,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-006.jpg",
"sha256": "6b9f5cf163e996f40dd6df3fb65aecf59c82e94323855eb4288a7f073a20281b",
"pose": [
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
"timestamp": 5941.09041535,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-007.jpg",
"sha256": "b6bf461e4c11c91df3971e6a3dbff82206a0e63d5e486ad2d491a1c787975f3d",
"pose": [
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
"timestamp": 5941.625273426,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-008.jpg",
"sha256": "cb21f9b2a337e3ee0aaf87aa46506f1f27316f483dcb0fdcbe8d0083dbad938d",
"pose": [
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
"timestamp": 5942.224465574,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-009.jpg",
"sha256": "6f43edf0e4bd8847e5b4c45d517534b10700223791bfa0a51144cd9176462dd2",
"pose": [
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
"timestamp": 5942.894281752,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-000.jpg",
"sha256": "d39d3af6df2aeb5d74e8a7df679961513bba6b95b884e880fb97e29f0258977d",
"pose": [
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
"timestamp": 5943.759622306,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-001.jpg",
"sha256": "7b73f7d3d1c6a077064b85da79d893f7496c7cd37f460537831b4e99b2425f71",
"pose": [
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
"timestamp": 5944.361039324,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-002.jpg",
"sha256": "fab1d097d8f925d66380cfb916711d749674b399cf8cc639d57b675591aa689c",
"pose": [
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
"timestamp": 5944.761797213,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-003.jpg",
"sha256": "d3a3c576704a02f850f87954e047a6b9822e0f0b9f51421b6cc33a15ce044a28",
"pose": [
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
"timestamp": 5945.094937406,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-004.jpg",
"sha256": "54495944822a5ff39bbd713b248adbb97accfc03e568fc3a092834794238dc32",
"pose": [
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
"timestamp": 5945.696084272,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-005.jpg",
"sha256": "274348dfe896bea5d8ed31b4e29e7b37a5374eafd0839387e8a482c7f1ce545d",
"pose": [
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
"timestamp": 5946.295871383,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-006.jpg",
"sha256": "102f00e6304978607c8569b58a51c17f89a3688f154b49c55e4b5f0f1abf3d7c",
"pose": [
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
"timestamp": 5946.963119064,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-007.jpg",
"sha256": "4129fa54ad0c1d8790968a1d96686f9a79879b2d4cf5060d8a00f12ea15bd5a7",
"pose": [
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
"timestamp": 5947.497553063,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-009.jpg",
"sha256": "fd2fa264bbce099ffb241dc2dc224d0af48f34f12cc64ad0f9d6f3c695da9822",
"pose": [
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
"timestamp": 5947.7672307,
"observation_id": 30
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": [
[
-0.0019116223556920886,
-0.00024410735932178795,
-0.3131910264492035
],
[
0.11460254410789326,
-0.011542461115194975,
-0.021308481693267826
],
[
0.10555222316875539,
0.014200623473821564,
0.162501722574234
],
[
0.11371584542607457,
0.0053963987944344715,
0.08717716485261917
],
[
0.12032130504935944,
0.0030121216028769797,
0.019293472170829773
],
[
0.12026804038335365,
-0.0013867934974526302,
-0.02903144061565399
],
[
0.12381328737282203,
-0.00013858789856042303,
-0.041537247598171234
],
[
0.12863323095040105,
0.00029126019264646974,
0.006256401538848877
],
[
0.1202722758177889,
0.0007889464926211752,
0.05421712249517441
],
[
0.09535136188078201,
0.00026716896378661814,
0.033958882093429565
]
],
"stop": false,
"plan": null,
"raw": "<apos_1084><opos_606><act_l0_27><act_l1_74><act_l2_9><|im_end|>",
"waypoints": [
[
-0.0019116223556920886,
-0.00024410735932178795,
-0.3131910264492035
],
[
0.10355992615222931,
-0.046533674001693726,
-0.3344995081424713
],
[
0.20792390406131744,
-0.06777254492044449,
-0.1719977855682373
],
[
0.32088544964790344,
-0.08191835135221481,
-0.08482062071561813
],
[
0.4410293698310852,
-0.08911055326461792,
-0.06552714854478836
],
[
0.5609484910964966,
-0.0983695536851883,
-0.09455858916044235
],
[
0.6841955780982971,
-0.11019769310951233,
-0.1360958367586136
],
[
0.8116788864135742,
-0.12736158072948456,
-0.1298394352197647
],
[
0.9310409426689148,
-0.14215151965618134,
-0.0756223127245903
],
[
1.0261399745941162,
-0.14908893406391144,
-0.041663430631160736
]
],
"pointing": {
"apos": 1084,
"opos": 606
},
"rvq_codes": [
27,
74,
9
],
"model_input": {
"history_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29
],
"segments": [
{
"indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27
],
"tensor": "processed/segment0.pt",
"shape": [
28,
3,
256,
448
]
},
{
"indices": [
28,
29
],
"tensor": "processed/segment1.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:<7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
697
],
"attention_mask": [
1,
697
],
"pixel_values_videos": [
1,
6720,
1536
],
"video_grid_thw": [
2,
3
],
"_original_video_grid_thw": [
2,
3
],
"_post_vit_pool_factors": [
2
],
"position_ids": [
1,
3,
697
],
"mm_token_type_ids": [
1,
697
]
}
},
"history_fps": 4
},
"native_latency_ms": 230.47400312498212
},
"response": {
"type": "step",
"actions": [
[
-0.0019116223556920886,
-0.00024410735932178795,
-0.3131910264492035
],
[
0.11460254410789326,
-0.011542461115194975,
-0.021308481693267826
],
[
0.10555222316875539,
0.014200623473821564,
0.162501722574234
],
[
0.11371584542607457,
0.0053963987944344715,
0.08717716485261917
],
[
0.12032130504935944,
0.0030121216028769797,
0.019293472170829773
],
[
0.12026804038335365,
-0.0013867934974526302,
-0.02903144061565399
],
[
0.12381328737282203,
-0.00013858789856042303,
-0.041537247598171234
],
[
0.12863323095040105,
0.00029126019264646974,
0.006256401538848877
],
[
0.1202722758177889,
0.0007889464926211752,
0.05421712249517441
],
[
0.09535136188078201,
0.00026716896378661814,
0.033958882093429565
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
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-20261018-204515-1d22f2ef",
"inference_id": 3,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.38725034333765507,
"peak_memory_bytes": 9419125248,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.39063842687755823
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
-0.0019116223556920886,
-0.00024410735932178795,
-0.3131910264492035
],
[
0.10355992615222931,
-0.046533674001693726,
-0.3344995081424713
],
[
0.20792390406131744,
-0.06777254492044449,
-0.1719977855682373
],
[
0.32088544964790344,
-0.08191835135221481,
-0.08482062071561813
],
[
0.4410293698310852,
-0.08911055326461792,
-0.06552714854478836
],
[
0.5609484910964966,
-0.0983695536851883,
-0.09455858916044235
],
[
0.6841955780982971,
-0.11019769310951233,
-0.1360958367586136
],
[
0.8116788864135743,
-0.12736158072948456,
-0.12983943521976468
],
[
0.9310409426689149,
-0.14215151965618134,
-0.07562231272459027
],
[
1.0261399745941162,
-0.14908893406391144,
-0.04166343063116071
]
],
"observed_poses": [
[
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
[
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
[
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
[
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
[
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
[
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
[
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
[
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
[
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
[
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
[
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
[
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
[
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
[
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
[
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
[
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
[
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
[
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
[
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
[
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
[
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
[
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
[
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
[
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
[
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
[
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
[
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
[
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
[
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
[
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
[
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the vending machine",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-000.jpg",
"sha256": "f33e3669a6983589ab75a83495cfd83044427668278423b9abab2b2535171bcb",
"pose": [
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
"timestamp": 5937.219796418,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-001.jpg",
"sha256": "9b573fbead811b489e13ee19daf07f288f8cf49f47ab32811a1834ed8b018bc3",
"pose": [
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
"timestamp": 5937.752541211,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-002.jpg",
"sha256": "55c56b5f8b1736889adb965bd2ba788f783e90b4c2f8a65ba03a10e6a3ba65ad",
"pose": [
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
"timestamp": 5938.353692461,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-003.jpg",
"sha256": "8f9daf7116062defaeea2d137befe9ecee05c945a8c8f670ad4798659d405d51",
"pose": [
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
"timestamp": 5938.955933154,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-004.jpg",
"sha256": "9384301476813624cee1a6272228f26d90f9f74f18041c20cb3cded5103db030",
"pose": [
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
"timestamp": 5939.691742176,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-005.jpg",
"sha256": "efd37326a54b3ce82684fd4bef868971b64089bfd1f46670e448b66d1b908b1a",
"pose": [
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
"timestamp": 5940.356685017,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-006.jpg",
"sha256": "6b9f5cf163e996f40dd6df3fb65aecf59c82e94323855eb4288a7f073a20281b",
"pose": [
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
"timestamp": 5941.09041535,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-007.jpg",
"sha256": "b6bf461e4c11c91df3971e6a3dbff82206a0e63d5e486ad2d491a1c787975f3d",
"pose": [
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
"timestamp": 5941.625273426,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-008.jpg",
"sha256": "cb21f9b2a337e3ee0aaf87aa46506f1f27316f483dcb0fdcbe8d0083dbad938d",
"pose": [
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
"timestamp": 5942.224465574,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-009.jpg",
"sha256": "6f43edf0e4bd8847e5b4c45d517534b10700223791bfa0a51144cd9176462dd2",
"pose": [
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
"timestamp": 5942.894281752,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-000.jpg",
"sha256": "d39d3af6df2aeb5d74e8a7df679961513bba6b95b884e880fb97e29f0258977d",
"pose": [
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
"timestamp": 5943.759622306,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-001.jpg",
"sha256": "7b73f7d3d1c6a077064b85da79d893f7496c7cd37f460537831b4e99b2425f71",
"pose": [
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
"timestamp": 5944.361039324,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-002.jpg",
"sha256": "fab1d097d8f925d66380cfb916711d749674b399cf8cc639d57b675591aa689c",
"pose": [
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
"timestamp": 5944.761797213,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-003.jpg",
"sha256": "d3a3c576704a02f850f87954e047a6b9822e0f0b9f51421b6cc33a15ce044a28",
"pose": [
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
"timestamp": 5945.094937406,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-004.jpg",
"sha256": "54495944822a5ff39bbd713b248adbb97accfc03e568fc3a092834794238dc32",
"pose": [
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
"timestamp": 5945.696084272,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-005.jpg",
"sha256": "274348dfe896bea5d8ed31b4e29e7b37a5374eafd0839387e8a482c7f1ce545d",
"pose": [
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
"timestamp": 5946.295871383,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-006.jpg",
"sha256": "102f00e6304978607c8569b58a51c17f89a3688f154b49c55e4b5f0f1abf3d7c",
"pose": [
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
"timestamp": 5946.963119064,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-007.jpg",
"sha256": "4129fa54ad0c1d8790968a1d96686f9a79879b2d4cf5060d8a00f12ea15bd5a7",
"pose": [
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
"timestamp": 5947.497553063,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-008.jpg",
"sha256": "2dd0408fe593f9ac0d500730e7993d2e5b85bcce4251c844d37c8e80615703c0",
"pose": [
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
"timestamp": 5947.629493502,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-009.jpg",
"sha256": "fd2fa264bbce099ffb241dc2dc224d0af48f34f12cc64ad0f9d6f3c695da9822",
"pose": [
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
"timestamp": 5947.7672307,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-000.jpg",
"sha256": "c9abc721fc53d5424282873d038f82f3d340474211c8f20ff7429639ff3b4062",
"pose": [
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
"timestamp": 5950.034716793,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-001.jpg",
"sha256": "2220bbe2bec1c84a9592ca7fa8a3f58587e43d66ccdb3be7593c4f842f3ceefc",
"pose": [
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
"timestamp": 5950.567815133,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-002.jpg",
"sha256": "685aa2b537611f7c96fdd8f1ba0eeaef8a885cd5cbb9ae94d36331402a4e1984",
"pose": [
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
"timestamp": 5951.235404298,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-003.jpg",
"sha256": "c1924dcbe1dadd3ac658423639e59a06e9f521b938fd34b889574cb9437beea0",
"pose": [
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
"timestamp": 5951.771401386,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-004.jpg",
"sha256": "fad250d9ba357fcf87c88ceebd7a265978ef7b95ee9442b9c973fed8725614e5",
"pose": [
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
"timestamp": 5952.367895976,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-005.jpg",
"sha256": "39b239d1ae5bcdee639be9c7c8fa12bb0d68b138a5117675692099ae39818bc4",
"pose": [
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
"timestamp": 5952.97157313,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-006.jpg",
"sha256": "b56b5cf970372c01f8330395657c8075574eddc86bc95d934ade71f49e9d0812",
"pose": [
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
"timestamp": 5953.571101641,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-007.jpg",
"sha256": "9f23e770759df4aa52f83a60bc732f0504ac586340cf7392d5a7c15a683ca440",
"pose": [
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
"timestamp": 5954.10555852,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-008.jpg",
"sha256": "8c999d21222c60499b4252765d829c1f1dd9117533c8764cb8429f2970b88154",
"pose": [
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
"timestamp": 5954.771720951,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-009.jpg",
"sha256": "20cf285113cfc8f35528886f8d00f12852519e7cf5412df2e53bd930ca345a09",
"pose": [
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
"timestamp": 5955.238043895,
"observation_id": 40
}
],
"time_resampled_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40
],
"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": 2.4020065810000233,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
4,
5
],
"tensor": "processed/segment1.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
38,
39
],
"tensor": "processed/segment3.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:<9.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
24,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<9.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
821
],
"attention_mask": [
1,
821
],
"pixel_values_videos": [
1,
8512,
1536
],
"video_grid_thw": [
4,
3
],
"_original_video_grid_thw": [
4,
3
],
"_post_vit_pool_factors": [
4
],
"position_ids": [
1,
3,
821
],
"mm_token_type_ids": [
1,
821
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-000.jpg",
"sha256": "f33e3669a6983589ab75a83495cfd83044427668278423b9abab2b2535171bcb",
"pose": [
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
"timestamp": 5937.219796418,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-001.jpg",
"sha256": "9b573fbead811b489e13ee19daf07f288f8cf49f47ab32811a1834ed8b018bc3",
"pose": [
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
"timestamp": 5937.752541211,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-002.jpg",
"sha256": "55c56b5f8b1736889adb965bd2ba788f783e90b4c2f8a65ba03a10e6a3ba65ad",
"pose": [
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
"timestamp": 5938.353692461,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-003.jpg",
"sha256": "8f9daf7116062defaeea2d137befe9ecee05c945a8c8f670ad4798659d405d51",
"pose": [
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
"timestamp": 5938.955933154,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-004.jpg",
"sha256": "9384301476813624cee1a6272228f26d90f9f74f18041c20cb3cded5103db030",
"pose": [
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
"timestamp": 5939.691742176,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-005.jpg",
"sha256": "efd37326a54b3ce82684fd4bef868971b64089bfd1f46670e448b66d1b908b1a",
"pose": [
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
"timestamp": 5940.356685017,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-006.jpg",
"sha256": "6b9f5cf163e996f40dd6df3fb65aecf59c82e94323855eb4288a7f073a20281b",
"pose": [
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
"timestamp": 5941.09041535,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-007.jpg",
"sha256": "b6bf461e4c11c91df3971e6a3dbff82206a0e63d5e486ad2d491a1c787975f3d",
"pose": [
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
"timestamp": 5941.625273426,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-008.jpg",
"sha256": "cb21f9b2a337e3ee0aaf87aa46506f1f27316f483dcb0fdcbe8d0083dbad938d",
"pose": [
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
"timestamp": 5942.224465574,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-009.jpg",
"sha256": "6f43edf0e4bd8847e5b4c45d517534b10700223791bfa0a51144cd9176462dd2",
"pose": [
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
"timestamp": 5942.894281752,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-000.jpg",
"sha256": "d39d3af6df2aeb5d74e8a7df679961513bba6b95b884e880fb97e29f0258977d",
"pose": [
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
"timestamp": 5943.759622306,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-001.jpg",
"sha256": "7b73f7d3d1c6a077064b85da79d893f7496c7cd37f460537831b4e99b2425f71",
"pose": [
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
"timestamp": 5944.361039324,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-002.jpg",
"sha256": "fab1d097d8f925d66380cfb916711d749674b399cf8cc639d57b675591aa689c",
"pose": [
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
"timestamp": 5944.761797213,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-003.jpg",
"sha256": "d3a3c576704a02f850f87954e047a6b9822e0f0b9f51421b6cc33a15ce044a28",
"pose": [
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
"timestamp": 5945.094937406,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-004.jpg",
"sha256": "54495944822a5ff39bbd713b248adbb97accfc03e568fc3a092834794238dc32",
"pose": [
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
"timestamp": 5945.696084272,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-005.jpg",
"sha256": "274348dfe896bea5d8ed31b4e29e7b37a5374eafd0839387e8a482c7f1ce545d",
"pose": [
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
"timestamp": 5946.295871383,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-006.jpg",
"sha256": "102f00e6304978607c8569b58a51c17f89a3688f154b49c55e4b5f0f1abf3d7c",
"pose": [
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
"timestamp": 5946.963119064,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-007.jpg",
"sha256": "4129fa54ad0c1d8790968a1d96686f9a79879b2d4cf5060d8a00f12ea15bd5a7",
"pose": [
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
"timestamp": 5947.497553063,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-009.jpg",
"sha256": "fd2fa264bbce099ffb241dc2dc224d0af48f34f12cc64ad0f9d6f3c695da9822",
"pose": [
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
"timestamp": 5947.7672307,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-000.jpg",
"sha256": "c9abc721fc53d5424282873d038f82f3d340474211c8f20ff7429639ff3b4062",
"pose": [
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
"timestamp": 5950.034716793,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-001.jpg",
"sha256": "2220bbe2bec1c84a9592ca7fa8a3f58587e43d66ccdb3be7593c4f842f3ceefc",
"pose": [
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
"timestamp": 5950.567815133,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-002.jpg",
"sha256": "685aa2b537611f7c96fdd8f1ba0eeaef8a885cd5cbb9ae94d36331402a4e1984",
"pose": [
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
"timestamp": 5951.235404298,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-003.jpg",
"sha256": "c1924dcbe1dadd3ac658423639e59a06e9f521b938fd34b889574cb9437beea0",
"pose": [
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
"timestamp": 5951.771401386,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-004.jpg",
"sha256": "fad250d9ba357fcf87c88ceebd7a265978ef7b95ee9442b9c973fed8725614e5",
"pose": [
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
"timestamp": 5952.367895976,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-005.jpg",
"sha256": "39b239d1ae5bcdee639be9c7c8fa12bb0d68b138a5117675692099ae39818bc4",
"pose": [
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
"timestamp": 5952.97157313,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-006.jpg",
"sha256": "b56b5cf970372c01f8330395657c8075574eddc86bc95d934ade71f49e9d0812",
"pose": [
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
"timestamp": 5953.571101641,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-007.jpg",
"sha256": "9f23e770759df4aa52f83a60bc732f0504ac586340cf7392d5a7c15a683ca440",
"pose": [
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
"timestamp": 5954.10555852,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-008.jpg",
"sha256": "8c999d21222c60499b4252765d829c1f1dd9117533c8764cb8429f2970b88154",
"pose": [
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
"timestamp": 5954.771720951,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-009.jpg",
"sha256": "20cf285113cfc8f35528886f8d00f12852519e7cf5412df2e53bd930ca345a09",
"pose": [
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
"timestamp": 5955.238043895,
"observation_id": 40
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<9.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": [
[
0.0017610731301829219,
0.001432183664292097,
-0.29962995648384094
],
[
0.14570213952794292,
-0.012604400242322053,
-0.011125832796096803
],
[
0.14001499708270707,
0.013658244802515044,
0.20506123453378675
],
[
0.13916921245551467,
0.00619462841275896,
0.1004914017394185
],
[
0.08133922111787786,
0.0038810258886905705,
-0.00595152098685503
],
[
0.060549004424404376,
0.0018220139945637182,
-0.043193113058805466
],
[
0.11810187251042122,
0.0010861816055666319,
-0.03109409287571907
],
[
0.13130103353144568,
0.0004156610950267897,
-0.007723316550254822
],
[
0.12355742257424808,
0.00010396882344883805,
0.04506359621882439
],
[
0.10017517343713295,
7.968772199740473e-06,
0.004635866731405258
]
],
"stop": false,
"plan": null,
"raw": "<apos_1086><opos_605><act_l0_27><act_l1_47><act_l2_67><|im_end|>",
"waypoints": [
[
0.0017610731301829219,
0.001432183664292097,
-0.29962995648384094
],
[
0.13725116848945618,
-0.05361705273389816,
-0.31075578927993774
],
[
0.274736225605011,
-0.08342655003070831,
-0.10569455474615097
],
[
0.4137823283672333,
-0.09194854646921158,
-0.005203153006732464
],
[
0.4951406419277191,
-0.088490791618824,
-0.011154673993587494
],
[
0.5557062029838562,
-0.08734428137540817,
-0.05434778705239296
],
[
0.6736927032470703,
-0.092675119638443,
-0.08544187992811203
],
[
0.8045502305030823,
-0.10346593707799911,
-0.09316519647836685
],
[
0.9275814890861511,
-0.1148570254445076,
-0.048101600259542465
],
[
1.0276411771774292,
-0.11966579407453537,
-0.04346573352813721
]
],
"pointing": {
"apos": 1086,
"opos": 605
},
"rvq_codes": [
27,
47,
67
],
"model_input": {
"history_indices": [
0,
1,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
4,
5
],
"tensor": "processed/segment1.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
38,
39
],
"tensor": "processed/segment3.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:<9.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
24,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<9.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
821
],
"attention_mask": [
1,
821
],
"pixel_values_videos": [
1,
8512,
1536
],
"video_grid_thw": [
4,
3
],
"_original_video_grid_thw": [
4,
3
],
"_post_vit_pool_factors": [
4
],
"position_ids": [
1,
3,
821
],
"mm_token_type_ids": [
1,
821
]
}
},
"history_fps": 4
},
"native_latency_ms": 241.7891500517726
},
"response": {
"type": "step",
"actions": [
[
0.0017610731301829219,
0.001432183664292097,
-0.29962995648384094
],
[
0.14570213952794292,
-0.012604400242322053,
-0.011125832796096803
],
[
0.14001499708270707,
0.013658244802515044,
0.20506123453378675
],
[
0.13916921245551467,
0.00619462841275896,
0.1004914017394185
],
[
0.08133922111787786,
0.0038810258886905705,
-0.00595152098685503
],
[
0.060549004424404376,
0.0018220139945637182,
-0.043193113058805466
],
[
0.11810187251042122,
0.0010861816055666319,
-0.03109409287571907
],
[
0.13130103353144568,
0.0004156610950267897,
-0.007723316550254822
],
[
0.12355742257424808,
0.00010396882344883805,
0.04506359621882439
],
[
0.10017517343713295,
7.968772199740473e-06,
0.004635866731405258
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
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-20261018-204515-1d22f2ef",
"inference_id": 4,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.45420775189995766,
"peak_memory_bytes": 9505664512,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.4578562551178038
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.0017610731301829219,
0.001432183664292097,
-0.29962995648384094
],
[
0.13725116848945618,
-0.05361705273389816,
-0.31075578927993774
],
[
0.274736225605011,
-0.08342655003070831,
-0.105694554746151
],
[
0.4137823283672332,
-0.09194854646921159,
-0.005203153006732492
],
[
0.49514064192771906,
-0.08849079161882402,
-0.011154673993587522
],
[
0.5557062029838561,
-0.08734428137540819,
-0.05434778705239299
],
[
0.6736927032470702,
-0.09267511963844302,
-0.08544187992811207
],
[
0.8045502305030822,
-0.10346593707799914,
-0.0931651964783669
],
[
0.927581489086151,
-0.11485702544450763,
-0.04810160025954251
],
[
1.0276411771774292,
-0.1196657940745354,
-0.04346573352813725
]
],
"observed_poses": [
[
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
[
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
[
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
[
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
[
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
[
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
[
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
[
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
[
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
[
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
[
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
[
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
[
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
[
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
[
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
[
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
[
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
[
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
[
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
[
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
[
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
[
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
[
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
[
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
[
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
[
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
[
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
[
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
[
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
[
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
[
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
[
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
[
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
[
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
[
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
[
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
[
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
[
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
[
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
[
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
[
2.571790768769444,
0.024485353726349857,
0.05274575408364557
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the vending machine",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-000.jpg",
"sha256": "f33e3669a6983589ab75a83495cfd83044427668278423b9abab2b2535171bcb",
"pose": [
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
"timestamp": 5937.219796418,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-001.jpg",
"sha256": "9b573fbead811b489e13ee19daf07f288f8cf49f47ab32811a1834ed8b018bc3",
"pose": [
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
"timestamp": 5937.752541211,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-002.jpg",
"sha256": "55c56b5f8b1736889adb965bd2ba788f783e90b4c2f8a65ba03a10e6a3ba65ad",
"pose": [
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
"timestamp": 5938.353692461,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-003.jpg",
"sha256": "8f9daf7116062defaeea2d137befe9ecee05c945a8c8f670ad4798659d405d51",
"pose": [
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
"timestamp": 5938.955933154,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-004.jpg",
"sha256": "9384301476813624cee1a6272228f26d90f9f74f18041c20cb3cded5103db030",
"pose": [
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
"timestamp": 5939.691742176,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-005.jpg",
"sha256": "efd37326a54b3ce82684fd4bef868971b64089bfd1f46670e448b66d1b908b1a",
"pose": [
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
"timestamp": 5940.356685017,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-006.jpg",
"sha256": "6b9f5cf163e996f40dd6df3fb65aecf59c82e94323855eb4288a7f073a20281b",
"pose": [
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
"timestamp": 5941.09041535,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-007.jpg",
"sha256": "b6bf461e4c11c91df3971e6a3dbff82206a0e63d5e486ad2d491a1c787975f3d",
"pose": [
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
"timestamp": 5941.625273426,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-008.jpg",
"sha256": "cb21f9b2a337e3ee0aaf87aa46506f1f27316f483dcb0fdcbe8d0083dbad938d",
"pose": [
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
"timestamp": 5942.224465574,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-009.jpg",
"sha256": "6f43edf0e4bd8847e5b4c45d517534b10700223791bfa0a51144cd9176462dd2",
"pose": [
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
"timestamp": 5942.894281752,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-000.jpg",
"sha256": "d39d3af6df2aeb5d74e8a7df679961513bba6b95b884e880fb97e29f0258977d",
"pose": [
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
"timestamp": 5943.759622306,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-001.jpg",
"sha256": "7b73f7d3d1c6a077064b85da79d893f7496c7cd37f460537831b4e99b2425f71",
"pose": [
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
"timestamp": 5944.361039324,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-002.jpg",
"sha256": "fab1d097d8f925d66380cfb916711d749674b399cf8cc639d57b675591aa689c",
"pose": [
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
"timestamp": 5944.761797213,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-003.jpg",
"sha256": "d3a3c576704a02f850f87954e047a6b9822e0f0b9f51421b6cc33a15ce044a28",
"pose": [
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
"timestamp": 5945.094937406,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-004.jpg",
"sha256": "54495944822a5ff39bbd713b248adbb97accfc03e568fc3a092834794238dc32",
"pose": [
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
"timestamp": 5945.696084272,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-005.jpg",
"sha256": "274348dfe896bea5d8ed31b4e29e7b37a5374eafd0839387e8a482c7f1ce545d",
"pose": [
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
"timestamp": 5946.295871383,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-006.jpg",
"sha256": "102f00e6304978607c8569b58a51c17f89a3688f154b49c55e4b5f0f1abf3d7c",
"pose": [
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
"timestamp": 5946.963119064,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-007.jpg",
"sha256": "4129fa54ad0c1d8790968a1d96686f9a79879b2d4cf5060d8a00f12ea15bd5a7",
"pose": [
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
"timestamp": 5947.497553063,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-008.jpg",
"sha256": "2dd0408fe593f9ac0d500730e7993d2e5b85bcce4251c844d37c8e80615703c0",
"pose": [
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
"timestamp": 5947.629493502,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-009.jpg",
"sha256": "fd2fa264bbce099ffb241dc2dc224d0af48f34f12cc64ad0f9d6f3c695da9822",
"pose": [
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
"timestamp": 5947.7672307,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-000.jpg",
"sha256": "c9abc721fc53d5424282873d038f82f3d340474211c8f20ff7429639ff3b4062",
"pose": [
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
"timestamp": 5950.034716793,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-001.jpg",
"sha256": "2220bbe2bec1c84a9592ca7fa8a3f58587e43d66ccdb3be7593c4f842f3ceefc",
"pose": [
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
"timestamp": 5950.567815133,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-002.jpg",
"sha256": "685aa2b537611f7c96fdd8f1ba0eeaef8a885cd5cbb9ae94d36331402a4e1984",
"pose": [
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
"timestamp": 5951.235404298,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-003.jpg",
"sha256": "c1924dcbe1dadd3ac658423639e59a06e9f521b938fd34b889574cb9437beea0",
"pose": [
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
"timestamp": 5951.771401386,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-004.jpg",
"sha256": "fad250d9ba357fcf87c88ceebd7a265978ef7b95ee9442b9c973fed8725614e5",
"pose": [
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
"timestamp": 5952.367895976,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-005.jpg",
"sha256": "39b239d1ae5bcdee639be9c7c8fa12bb0d68b138a5117675692099ae39818bc4",
"pose": [
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
"timestamp": 5952.97157313,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-006.jpg",
"sha256": "b56b5cf970372c01f8330395657c8075574eddc86bc95d934ade71f49e9d0812",
"pose": [
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
"timestamp": 5953.571101641,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-007.jpg",
"sha256": "9f23e770759df4aa52f83a60bc732f0504ac586340cf7392d5a7c15a683ca440",
"pose": [
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
"timestamp": 5954.10555852,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-008.jpg",
"sha256": "8c999d21222c60499b4252765d829c1f1dd9117533c8764cb8429f2970b88154",
"pose": [
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
"timestamp": 5954.771720951,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-009.jpg",
"sha256": "20cf285113cfc8f35528886f8d00f12852519e7cf5412df2e53bd930ca345a09",
"pose": [
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
"timestamp": 5955.238043895,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-000.jpg",
"sha256": "62e691fefa7546bc37f968b645c3f78beb61659c036431195c6c4aa73a7ebc95",
"pose": [
2.5770259600030454,
0.026893765826585092,
-0.18487122111098842
],
"timestamp": 5957.577579919,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-001.jpg",
"sha256": "d51266da4aff1d8985275cab591b0d60c57583a91cb51bce81d32a3f415c66e8",
"pose": [
2.672921942757962,
0.002181452314393484,
-0.1798808411325532
],
"timestamp": 5958.307836798,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-002.jpg",
"sha256": "ff3218d2438779c5edb6414ed790c651afac16b30905ad477658ed35cc64d6be",
"pose": [
2.7727920460250983,
0.0015713715349374713,
0.0021154167209314068
],
"timestamp": 5959.177119909,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-003.jpg",
"sha256": "aff75c06661d398c9dc66e78d1f6ca7f9695019a661123f3fec632968a88179d",
"pose": [
2.866364080363207,
0.006063952915443815,
0.0755821452620089
],
"timestamp": 5959.776211925,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-004.jpg",
"sha256": "6b658d78e0bb8c01a1ed2e198ffeb93dc9eaffe745b68f2c1ecc4a12897915f2",
"pose": [
2.901994053874543,
0.013523352188166804,
0.08504062342941543
],
"timestamp": 5960.177537736,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-005.jpg",
"sha256": "c2356ddfe45cd19c89ee08abba7955f9f981508abdd53cf31f1b173beb058c94",
"pose": [
2.917292722615392,
0.014907332966162423,
0.06696675257330842
],
"timestamp": 5960.511325918,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-006.jpg",
"sha256": "2b8c0612fd9bb95d69edb2e3674a35ad9d7c2b2c6f82914ec9fb4aeb3b47bc91",
"pose": [
2.988692013766345,
0.022195776019219737,
0.06940359748846481
],
"timestamp": 5961.17945846,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-007.jpg",
"sha256": "e935566844c021c25b01dd05b7d038476512612b2171c1a15918257c42719d1d",
"pose": [
3.079076461658849,
0.027794674431075972,
0.08297848606516921
],
"timestamp": 5961.780117982,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-008.jpg",
"sha256": "06faa012eb6bb2b20d34a8fb759f24ac84a42b74f9fd34d3ed72c99067f0db6e",
"pose": [
3.1540280971212495,
0.04316157857154446,
0.12217718943148759
],
"timestamp": 5962.444301694,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-009.jpg",
"sha256": "040df580967d2f303b879df7d92a97c73b01c7dbf6ebfc970ccfcbb015a76a53",
"pose": [
3.2109467291177256,
0.050660950840768715,
0.15105286082637148
],
"timestamp": 5962.979235901,
"observation_id": 50
}
],
"time_resampled_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50
],
"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": 2.4020065810000233,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
2,
3,
8,
9,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
2,
3,
8,
9,
14,
15
],
"tensor": "processed/segment1.pt",
"shape": [
6,
3,
256,
448
]
},
{
"indices": [
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
48,
49
],
"tensor": "processed/segment3.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:<12.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
16,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<12.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
896
],
"attention_mask": [
1,
896
],
"pixel_values_videos": [
1,
9408,
1536
],
"video_grid_thw": [
4,
3
],
"_original_video_grid_thw": [
4,
3
],
"_post_vit_pool_factors": [
4
],
"position_ids": [
1,
3,
896
],
"mm_token_type_ids": [
1,
896
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-003.jpg",
"sha256": "8f9daf7116062defaeea2d137befe9ecee05c945a8c8f670ad4798659d405d51",
"pose": [
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
"timestamp": 5938.955933154,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-004.jpg",
"sha256": "9384301476813624cee1a6272228f26d90f9f74f18041c20cb3cded5103db030",
"pose": [
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
"timestamp": 5939.691742176,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-005.jpg",
"sha256": "efd37326a54b3ce82684fd4bef868971b64089bfd1f46670e448b66d1b908b1a",
"pose": [
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
"timestamp": 5940.356685017,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-006.jpg",
"sha256": "6b9f5cf163e996f40dd6df3fb65aecf59c82e94323855eb4288a7f073a20281b",
"pose": [
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
"timestamp": 5941.09041535,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-007.jpg",
"sha256": "b6bf461e4c11c91df3971e6a3dbff82206a0e63d5e486ad2d491a1c787975f3d",
"pose": [
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
"timestamp": 5941.625273426,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-008.jpg",
"sha256": "cb21f9b2a337e3ee0aaf87aa46506f1f27316f483dcb0fdcbe8d0083dbad938d",
"pose": [
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
"timestamp": 5942.224465574,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-009.jpg",
"sha256": "6f43edf0e4bd8847e5b4c45d517534b10700223791bfa0a51144cd9176462dd2",
"pose": [
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
"timestamp": 5942.894281752,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-000.jpg",
"sha256": "d39d3af6df2aeb5d74e8a7df679961513bba6b95b884e880fb97e29f0258977d",
"pose": [
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
"timestamp": 5943.759622306,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-001.jpg",
"sha256": "7b73f7d3d1c6a077064b85da79d893f7496c7cd37f460537831b4e99b2425f71",
"pose": [
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
"timestamp": 5944.361039324,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-002.jpg",
"sha256": "fab1d097d8f925d66380cfb916711d749674b399cf8cc639d57b675591aa689c",
"pose": [
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
"timestamp": 5944.761797213,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-003.jpg",
"sha256": "d3a3c576704a02f850f87954e047a6b9822e0f0b9f51421b6cc33a15ce044a28",
"pose": [
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
"timestamp": 5945.094937406,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-004.jpg",
"sha256": "54495944822a5ff39bbd713b248adbb97accfc03e568fc3a092834794238dc32",
"pose": [
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
"timestamp": 5945.696084272,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-005.jpg",
"sha256": "274348dfe896bea5d8ed31b4e29e7b37a5374eafd0839387e8a482c7f1ce545d",
"pose": [
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
"timestamp": 5946.295871383,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-006.jpg",
"sha256": "102f00e6304978607c8569b58a51c17f89a3688f154b49c55e4b5f0f1abf3d7c",
"pose": [
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
"timestamp": 5946.963119064,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-007.jpg",
"sha256": "4129fa54ad0c1d8790968a1d96686f9a79879b2d4cf5060d8a00f12ea15bd5a7",
"pose": [
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
"timestamp": 5947.497553063,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-009.jpg",
"sha256": "fd2fa264bbce099ffb241dc2dc224d0af48f34f12cc64ad0f9d6f3c695da9822",
"pose": [
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
"timestamp": 5947.7672307,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-000.jpg",
"sha256": "c9abc721fc53d5424282873d038f82f3d340474211c8f20ff7429639ff3b4062",
"pose": [
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
"timestamp": 5950.034716793,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-001.jpg",
"sha256": "2220bbe2bec1c84a9592ca7fa8a3f58587e43d66ccdb3be7593c4f842f3ceefc",
"pose": [
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
"timestamp": 5950.567815133,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-002.jpg",
"sha256": "685aa2b537611f7c96fdd8f1ba0eeaef8a885cd5cbb9ae94d36331402a4e1984",
"pose": [
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
"timestamp": 5951.235404298,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-003.jpg",
"sha256": "c1924dcbe1dadd3ac658423639e59a06e9f521b938fd34b889574cb9437beea0",
"pose": [
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
"timestamp": 5951.771401386,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-004.jpg",
"sha256": "fad250d9ba357fcf87c88ceebd7a265978ef7b95ee9442b9c973fed8725614e5",
"pose": [
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
"timestamp": 5952.367895976,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-005.jpg",
"sha256": "39b239d1ae5bcdee639be9c7c8fa12bb0d68b138a5117675692099ae39818bc4",
"pose": [
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
"timestamp": 5952.97157313,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-006.jpg",
"sha256": "b56b5cf970372c01f8330395657c8075574eddc86bc95d934ade71f49e9d0812",
"pose": [
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
"timestamp": 5953.571101641,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-007.jpg",
"sha256": "9f23e770759df4aa52f83a60bc732f0504ac586340cf7392d5a7c15a683ca440",
"pose": [
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
"timestamp": 5954.10555852,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-008.jpg",
"sha256": "8c999d21222c60499b4252765d829c1f1dd9117533c8764cb8429f2970b88154",
"pose": [
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
"timestamp": 5954.771720951,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-009.jpg",
"sha256": "20cf285113cfc8f35528886f8d00f12852519e7cf5412df2e53bd930ca345a09",
"pose": [
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
"timestamp": 5955.238043895,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-000.jpg",
"sha256": "62e691fefa7546bc37f968b645c3f78beb61659c036431195c6c4aa73a7ebc95",
"pose": [
2.5770259600030454,
0.026893765826585092,
-0.18487122111098842
],
"timestamp": 5957.577579919,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-001.jpg",
"sha256": "d51266da4aff1d8985275cab591b0d60c57583a91cb51bce81d32a3f415c66e8",
"pose": [
2.672921942757962,
0.002181452314393484,
-0.1798808411325532
],
"timestamp": 5958.307836798,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-002.jpg",
"sha256": "ff3218d2438779c5edb6414ed790c651afac16b30905ad477658ed35cc64d6be",
"pose": [
2.7727920460250983,
0.0015713715349374713,
0.0021154167209314068
],
"timestamp": 5959.177119909,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-003.jpg",
"sha256": "aff75c06661d398c9dc66e78d1f6ca7f9695019a661123f3fec632968a88179d",
"pose": [
2.866364080363207,
0.006063952915443815,
0.0755821452620089
],
"timestamp": 5959.776211925,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-004.jpg",
"sha256": "6b658d78e0bb8c01a1ed2e198ffeb93dc9eaffe745b68f2c1ecc4a12897915f2",
"pose": [
2.901994053874543,
0.013523352188166804,
0.08504062342941543
],
"timestamp": 5960.177537736,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-005.jpg",
"sha256": "c2356ddfe45cd19c89ee08abba7955f9f981508abdd53cf31f1b173beb058c94",
"pose": [
2.917292722615392,
0.014907332966162423,
0.06696675257330842
],
"timestamp": 5960.511325918,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-006.jpg",
"sha256": "2b8c0612fd9bb95d69edb2e3674a35ad9d7c2b2c6f82914ec9fb4aeb3b47bc91",
"pose": [
2.988692013766345,
0.022195776019219737,
0.06940359748846481
],
"timestamp": 5961.17945846,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-007.jpg",
"sha256": "e935566844c021c25b01dd05b7d038476512612b2171c1a15918257c42719d1d",
"pose": [
3.079076461658849,
0.027794674431075972,
0.08297848606516921
],
"timestamp": 5961.780117982,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-008.jpg",
"sha256": "06faa012eb6bb2b20d34a8fb759f24ac84a42b74f9fd34d3ed72c99067f0db6e",
"pose": [
3.1540280971212495,
0.04316157857154446,
0.12217718943148759
],
"timestamp": 5962.444301694,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-009.jpg",
"sha256": "040df580967d2f303b879df7d92a97c73b01c7dbf6ebfc970ccfcbb015a76a53",
"pose": [
3.2109467291177256,
0.050660950840768715,
0.15105286082637148
],
"timestamp": 5962.979235901,
"observation_id": 50
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<12.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": [
[
-0.0012104628840461373,
0.008880224078893661,
-0.24986135959625244
],
[
0.11528502626242577,
-0.010845016781764461,
-0.002811342477798462
],
[
0.10534244759943102,
0.01346990683509222,
0.1603038236498833
],
[
0.11371552412003386,
0.006507548699078687,
0.10286042094230652
],
[
0.11972580269977655,
0.006255718273140475,
0.05440181493759155
],
[
0.12656521232437945,
0.0023194415371358378,
0.023411191999912262
],
[
0.12993764846668024,
0.00045422474016757093,
-0.008029736578464508
],
[
0.13769835377111997,
2.565843901022012e-05,
-0.026772264391183857
],
[
0.12554853930808135,
0.00014148206920063227,
-0.016541916877031326
],
[
0.10299981509769786,
6.28201469745314e-05,
-0.008871758356690407
]
],
"stop": false,
"plan": null,
"raw": "<apos_1185><opos_561><act_l0_27><act_l1_74><act_l2_115><|im_end|>",
"waypoints": [
[
-0.0012104628840461373,
0.008880224078893661,
-0.24986135959625244
],
[
0.10781294107437134,
-0.030134504660964012,
-0.2526727020740509
],
[
0.2131779044866562,
-0.04342713952064514,
-0.09236887842416763
],
[
0.3270089030265808,
-0.0474361777305603,
0.010491542518138885
],
[
0.4466624855995178,
-0.03992471843957901,
0.06489335745573044
],
[
0.5728108882904053,
-0.029402680695056915,
0.0883045494556427
],
[
0.7022022008895874,
-0.017491046339273453,
0.08027481287717819
],
[
0.8394550681114197,
-0.006423628889024258,
0.05350254848599434
],
[
0.9648163914680481,
0.0004316133272368461,
0.03696063160896301
],
[
1.0677435398101807,
0.004300462082028389,
0.028088873252272606
]
],
"pointing": {
"apos": 1185,
"opos": 561
},
"rvq_codes": [
27,
74,
115
],
"model_input": {
"history_indices": [
0,
1,
2,
3,
8,
9,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
2,
3,
8,
9,
14,
15
],
"tensor": "processed/segment1.pt",
"shape": [
6,
3,
256,
448
]
},
{
"indices": [
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
48,
49
],
"tensor": "processed/segment3.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:<12.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
16,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<12.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
896
],
"attention_mask": [
1,
896
],
"pixel_values_videos": [
1,
9408,
1536
],
"video_grid_thw": [
4,
3
],
"_original_video_grid_thw": [
4,
3
],
"_post_vit_pool_factors": [
4
],
"position_ids": [
1,
3,
896
],
"mm_token_type_ids": [
1,
896
]
}
},
"history_fps": 4
},
"native_latency_ms": 246.66460696607828
},
"response": {
"type": "step",
"actions": [
[
-0.0012104628840461373,
0.008880224078893661,
-0.24986135959625244
],
[
0.11528502626242577,
-0.010845016781764461,
-0.002811342477798462
],
[
0.10534244759943102,
0.01346990683509222,
0.1603038236498833
],
[
0.11371552412003386,
0.006507548699078687,
0.10286042094230652
],
[
0.11972580269977655,
0.006255718273140475,
0.05440181493759155
],
[
0.12656521232437945,
0.0023194415371358378,
0.023411191999912262
],
[
0.12993764846668024,
0.00045422474016757093,
-0.008029736578464508
],
[
0.13769835377111997,
2.565843901022012e-05,
-0.026772264391183857
],
[
0.12554853930808135,
0.00014148206920063227,
-0.016541916877031326
],
[
0.10299981509769786,
6.28201469745314e-05,
-0.008871758356690407
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
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-20261018-204515-1d22f2ef",
"inference_id": 5,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.48182745231315494,
"peak_memory_bytes": 9544498688,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.4858907079324126
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
-0.0012104628840461373,
0.008880224078893661,
-0.24986135959625244
],
[
0.10781294107437132,
-0.030134504660964012,
-0.2526727020740509
],
[
0.21317790448665616,
-0.04342713952064514,
-0.0923688784241676
],
[
0.3270089030265808,
-0.047436177730560296,
0.010491542518138913
],
[
0.4466624855995178,
-0.039924718439578996,
0.06489335745573048
],
[
0.5728108882904053,
-0.0294026806950569,
0.08830454945564274
],
[
0.7022022008895874,
-0.017491046339273432,
0.08027481287717823
],
[
0.8394550681114197,
-0.006423628889024232,
0.05350254848599439
],
[
0.9648163914680481,
0.0004316133272368768,
0.03696063160896306
],
[
1.0677435398101807,
0.004300462082028424,
0.028088873252272654
]
],
"observed_poses": [
[
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
[
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
[
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
[
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
[
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
[
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
[
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
[
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
[
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
[
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
[
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
[
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
[
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
[
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
[
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
[
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
[
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
[
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
[
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
[
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
[
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
[
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
[
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
[
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
[
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
[
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
[
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
[
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
[
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
[
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
[
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
[
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
[
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
[
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
[
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
[
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
[
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
[
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
[
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
[
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
[
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
[
2.5770259600030454,
0.026893765826585092,
-0.18487122111098842
],
[
2.672921942757962,
0.002181452314393484,
-0.1798808411325532
],
[
2.7727920460250983,
0.0015713715349374713,
0.0021154167209314068
],
[
2.866364080363207,
0.006063952915443815,
0.0755821452620089
],
[
2.901994053874543,
0.013523352188166804,
0.08504062342941543
],
[
2.917292722615392,
0.014907332966162423,
0.06696675257330842
],
[
2.988692013766345,
0.022195776019219737,
0.06940359748846481
],
[
3.079076461658849,
0.027794674431075972,
0.08297848606516921
],
[
3.1540280971212495,
0.04316157857154446,
0.12217718943148759
],
[
3.2109467291177256,
0.050660950840768715,
0.15105286082637148
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the vending machine",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-000.jpg",
"sha256": "f33e3669a6983589ab75a83495cfd83044427668278423b9abab2b2535171bcb",
"pose": [
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
"timestamp": 5937.219796418,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-001.jpg",
"sha256": "9b573fbead811b489e13ee19daf07f288f8cf49f47ab32811a1834ed8b018bc3",
"pose": [
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
"timestamp": 5937.752541211,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-002.jpg",
"sha256": "55c56b5f8b1736889adb965bd2ba788f783e90b4c2f8a65ba03a10e6a3ba65ad",
"pose": [
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
"timestamp": 5938.353692461,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-003.jpg",
"sha256": "8f9daf7116062defaeea2d137befe9ecee05c945a8c8f670ad4798659d405d51",
"pose": [
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
"timestamp": 5938.955933154,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-004.jpg",
"sha256": "9384301476813624cee1a6272228f26d90f9f74f18041c20cb3cded5103db030",
"pose": [
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
"timestamp": 5939.691742176,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-005.jpg",
"sha256": "efd37326a54b3ce82684fd4bef868971b64089bfd1f46670e448b66d1b908b1a",
"pose": [
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
"timestamp": 5940.356685017,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-006.jpg",
"sha256": "6b9f5cf163e996f40dd6df3fb65aecf59c82e94323855eb4288a7f073a20281b",
"pose": [
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
"timestamp": 5941.09041535,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-007.jpg",
"sha256": "b6bf461e4c11c91df3971e6a3dbff82206a0e63d5e486ad2d491a1c787975f3d",
"pose": [
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
"timestamp": 5941.625273426,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-008.jpg",
"sha256": "cb21f9b2a337e3ee0aaf87aa46506f1f27316f483dcb0fdcbe8d0083dbad938d",
"pose": [
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
"timestamp": 5942.224465574,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-009.jpg",
"sha256": "6f43edf0e4bd8847e5b4c45d517534b10700223791bfa0a51144cd9176462dd2",
"pose": [
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
"timestamp": 5942.894281752,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-000.jpg",
"sha256": "d39d3af6df2aeb5d74e8a7df679961513bba6b95b884e880fb97e29f0258977d",
"pose": [
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
"timestamp": 5943.759622306,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-001.jpg",
"sha256": "7b73f7d3d1c6a077064b85da79d893f7496c7cd37f460537831b4e99b2425f71",
"pose": [
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
"timestamp": 5944.361039324,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-002.jpg",
"sha256": "fab1d097d8f925d66380cfb916711d749674b399cf8cc639d57b675591aa689c",
"pose": [
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
"timestamp": 5944.761797213,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-003.jpg",
"sha256": "d3a3c576704a02f850f87954e047a6b9822e0f0b9f51421b6cc33a15ce044a28",
"pose": [
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
"timestamp": 5945.094937406,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-004.jpg",
"sha256": "54495944822a5ff39bbd713b248adbb97accfc03e568fc3a092834794238dc32",
"pose": [
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
"timestamp": 5945.696084272,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-005.jpg",
"sha256": "274348dfe896bea5d8ed31b4e29e7b37a5374eafd0839387e8a482c7f1ce545d",
"pose": [
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
"timestamp": 5946.295871383,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-006.jpg",
"sha256": "102f00e6304978607c8569b58a51c17f89a3688f154b49c55e4b5f0f1abf3d7c",
"pose": [
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
"timestamp": 5946.963119064,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-007.jpg",
"sha256": "4129fa54ad0c1d8790968a1d96686f9a79879b2d4cf5060d8a00f12ea15bd5a7",
"pose": [
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
"timestamp": 5947.497553063,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-008.jpg",
"sha256": "2dd0408fe593f9ac0d500730e7993d2e5b85bcce4251c844d37c8e80615703c0",
"pose": [
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
"timestamp": 5947.629493502,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-009.jpg",
"sha256": "fd2fa264bbce099ffb241dc2dc224d0af48f34f12cc64ad0f9d6f3c695da9822",
"pose": [
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
"timestamp": 5947.7672307,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-000.jpg",
"sha256": "c9abc721fc53d5424282873d038f82f3d340474211c8f20ff7429639ff3b4062",
"pose": [
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
"timestamp": 5950.034716793,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-001.jpg",
"sha256": "2220bbe2bec1c84a9592ca7fa8a3f58587e43d66ccdb3be7593c4f842f3ceefc",
"pose": [
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
"timestamp": 5950.567815133,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-002.jpg",
"sha256": "685aa2b537611f7c96fdd8f1ba0eeaef8a885cd5cbb9ae94d36331402a4e1984",
"pose": [
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
"timestamp": 5951.235404298,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-003.jpg",
"sha256": "c1924dcbe1dadd3ac658423639e59a06e9f521b938fd34b889574cb9437beea0",
"pose": [
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
"timestamp": 5951.771401386,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-004.jpg",
"sha256": "fad250d9ba357fcf87c88ceebd7a265978ef7b95ee9442b9c973fed8725614e5",
"pose": [
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
"timestamp": 5952.367895976,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-005.jpg",
"sha256": "39b239d1ae5bcdee639be9c7c8fa12bb0d68b138a5117675692099ae39818bc4",
"pose": [
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
"timestamp": 5952.97157313,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-006.jpg",
"sha256": "b56b5cf970372c01f8330395657c8075574eddc86bc95d934ade71f49e9d0812",
"pose": [
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
"timestamp": 5953.571101641,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-007.jpg",
"sha256": "9f23e770759df4aa52f83a60bc732f0504ac586340cf7392d5a7c15a683ca440",
"pose": [
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
"timestamp": 5954.10555852,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-008.jpg",
"sha256": "8c999d21222c60499b4252765d829c1f1dd9117533c8764cb8429f2970b88154",
"pose": [
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
"timestamp": 5954.771720951,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-009.jpg",
"sha256": "20cf285113cfc8f35528886f8d00f12852519e7cf5412df2e53bd930ca345a09",
"pose": [
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
"timestamp": 5955.238043895,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-000.jpg",
"sha256": "62e691fefa7546bc37f968b645c3f78beb61659c036431195c6c4aa73a7ebc95",
"pose": [
2.5770259600030454,
0.026893765826585092,
-0.18487122111098842
],
"timestamp": 5957.577579919,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-001.jpg",
"sha256": "d51266da4aff1d8985275cab591b0d60c57583a91cb51bce81d32a3f415c66e8",
"pose": [
2.672921942757962,
0.002181452314393484,
-0.1798808411325532
],
"timestamp": 5958.307836798,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-002.jpg",
"sha256": "ff3218d2438779c5edb6414ed790c651afac16b30905ad477658ed35cc64d6be",
"pose": [
2.7727920460250983,
0.0015713715349374713,
0.0021154167209314068
],
"timestamp": 5959.177119909,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-003.jpg",
"sha256": "aff75c06661d398c9dc66e78d1f6ca7f9695019a661123f3fec632968a88179d",
"pose": [
2.866364080363207,
0.006063952915443815,
0.0755821452620089
],
"timestamp": 5959.776211925,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-004.jpg",
"sha256": "6b658d78e0bb8c01a1ed2e198ffeb93dc9eaffe745b68f2c1ecc4a12897915f2",
"pose": [
2.901994053874543,
0.013523352188166804,
0.08504062342941543
],
"timestamp": 5960.177537736,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-005.jpg",
"sha256": "c2356ddfe45cd19c89ee08abba7955f9f981508abdd53cf31f1b173beb058c94",
"pose": [
2.917292722615392,
0.014907332966162423,
0.06696675257330842
],
"timestamp": 5960.511325918,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-006.jpg",
"sha256": "2b8c0612fd9bb95d69edb2e3674a35ad9d7c2b2c6f82914ec9fb4aeb3b47bc91",
"pose": [
2.988692013766345,
0.022195776019219737,
0.06940359748846481
],
"timestamp": 5961.17945846,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-007.jpg",
"sha256": "e935566844c021c25b01dd05b7d038476512612b2171c1a15918257c42719d1d",
"pose": [
3.079076461658849,
0.027794674431075972,
0.08297848606516921
],
"timestamp": 5961.780117982,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-008.jpg",
"sha256": "06faa012eb6bb2b20d34a8fb759f24ac84a42b74f9fd34d3ed72c99067f0db6e",
"pose": [
3.1540280971212495,
0.04316157857154446,
0.12217718943148759
],
"timestamp": 5962.444301694,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-009.jpg",
"sha256": "040df580967d2f303b879df7d92a97c73b01c7dbf6ebfc970ccfcbb015a76a53",
"pose": [
3.2109467291177256,
0.050660950840768715,
0.15105286082637148
],
"timestamp": 5962.979235901,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-000.jpg",
"sha256": "ff9bfba59e8524ae2790e552525952220ae06fc8365d05ea727b65a9df291c96",
"pose": [
3.1986880475987625,
0.04874360323107929,
-0.06824009356862248
],
"timestamp": 5964.781133089,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-001.jpg",
"sha256": "ec715981223331997905ff2c4cfb6ec73c4bf5d8bb3264ae169f5bbd59745fe1",
"pose": [
3.269997026318161,
0.047161209520439895,
-0.06065230351517803
],
"timestamp": 5965.314742742,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-002.jpg",
"sha256": "1266dee15a875d63b35b28c5dd2f9212b8733c691e03003b604464df6e9fe03f",
"pose": [
3.3338211479808786,
0.05062971146167561,
0.06519077148228947
],
"timestamp": 5965.983209758,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-003.jpg",
"sha256": "dc1160da6aec0b8bc70b608a027b75f0525de4d7354dee6a371e835036e87b9e",
"pose": [
3.4061937120249772,
0.058950633587690815,
0.1633329486762638
],
"timestamp": 5966.916478225,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-004.jpg",
"sha256": "8b3cdb8c8f54b3b31ff9b332e3e1a35a4fd89f52f625d9e2bc72283c28a2cd1b",
"pose": [
3.471767714948841,
0.08568338731971847,
0.18747759951452414
],
"timestamp": 5967.583429224,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-005.jpg",
"sha256": "549b266f6397915c40f89c9632090fcd92c5a0bd810881be26981d7dd5022fe0",
"pose": [
3.54730698431577,
0.09896044199264753,
0.20671931447160222
],
"timestamp": 5968.252847087,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-006.jpg",
"sha256": "cfc30e4eb6f840c4921034cf9f378c4c873a733213b75d37de1b353270822f81",
"pose": [
3.6268589519970713,
0.12368777861251146,
0.19083599733716872
],
"timestamp": 5968.917748198,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-007.jpg",
"sha256": "f8ad8626ddcfe9dcf7d2b8f479155a43a0948da2fec333f2a05823d56d97cd55",
"pose": [
3.7199537250327257,
0.13865533305554,
0.20147834532783904
],
"timestamp": 5969.519273571,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-008.jpg",
"sha256": "d50e079dfb58d4302c9bdb3d9aea59f1ba82d68fbe9287f7973c9410f9e242d1",
"pose": [
3.7935857497215286,
0.161393175257887,
0.19686855906854817
],
"timestamp": 5970.120732223,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-009.jpg",
"sha256": "fcb9edb8ed0bf5f288ab687b82dc8257594ddb6e8619d36e8b2017a72bfd330d",
"pose": [
3.8547336138152675,
0.1727155037231316,
0.21574632122931137
],
"timestamp": 5970.656699902,
"observation_id": 60
}
],
"time_resampled_indices": [
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60
],
"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": 2.4020065810000233,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
5,
6,
11,
12,
17,
18,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
5,
6,
11,
12,
17,
18,
23,
24
],
"tensor": "processed/segment1.pt",
"shape": [
8,
3,
256,
448
]
},
{
"indices": [
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
57,
58
],
"tensor": "processed/segment3.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:<14.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
16,
19,
13,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<14.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
933
],
"attention_mask": [
1,
933
],
"pixel_values_videos": [
1,
9856,
1536
],
"video_grid_thw": [
4,
3
],
"_original_video_grid_thw": [
4,
3
],
"_post_vit_pool_factors": [
4
],
"position_ids": [
1,
3,
933
],
"mm_token_type_ids": [
1,
933
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-001.jpg",
"sha256": "9b573fbead811b489e13ee19daf07f288f8cf49f47ab32811a1834ed8b018bc3",
"pose": [
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
"timestamp": 5937.752541211,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-002.jpg",
"sha256": "55c56b5f8b1736889adb965bd2ba788f783e90b4c2f8a65ba03a10e6a3ba65ad",
"pose": [
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
"timestamp": 5938.353692461,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-007.jpg",
"sha256": "b6bf461e4c11c91df3971e6a3dbff82206a0e63d5e486ad2d491a1c787975f3d",
"pose": [
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
"timestamp": 5941.625273426,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-008.jpg",
"sha256": "cb21f9b2a337e3ee0aaf87aa46506f1f27316f483dcb0fdcbe8d0083dbad938d",
"pose": [
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
"timestamp": 5942.224465574,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-003.jpg",
"sha256": "d3a3c576704a02f850f87954e047a6b9822e0f0b9f51421b6cc33a15ce044a28",
"pose": [
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
"timestamp": 5945.094937406,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-004.jpg",
"sha256": "54495944822a5ff39bbd713b248adbb97accfc03e568fc3a092834794238dc32",
"pose": [
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
"timestamp": 5945.696084272,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-005.jpg",
"sha256": "274348dfe896bea5d8ed31b4e29e7b37a5374eafd0839387e8a482c7f1ce545d",
"pose": [
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
"timestamp": 5946.295871383,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-006.jpg",
"sha256": "102f00e6304978607c8569b58a51c17f89a3688f154b49c55e4b5f0f1abf3d7c",
"pose": [
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
"timestamp": 5946.963119064,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-007.jpg",
"sha256": "4129fa54ad0c1d8790968a1d96686f9a79879b2d4cf5060d8a00f12ea15bd5a7",
"pose": [
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
"timestamp": 5947.497553063,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-008.jpg",
"sha256": "2dd0408fe593f9ac0d500730e7993d2e5b85bcce4251c844d37c8e80615703c0",
"pose": [
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
"timestamp": 5947.629493502,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-000.jpg",
"sha256": "c9abc721fc53d5424282873d038f82f3d340474211c8f20ff7429639ff3b4062",
"pose": [
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
"timestamp": 5950.034716793,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-001.jpg",
"sha256": "2220bbe2bec1c84a9592ca7fa8a3f58587e43d66ccdb3be7593c4f842f3ceefc",
"pose": [
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
"timestamp": 5950.567815133,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-002.jpg",
"sha256": "685aa2b537611f7c96fdd8f1ba0eeaef8a885cd5cbb9ae94d36331402a4e1984",
"pose": [
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
"timestamp": 5951.235404298,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-003.jpg",
"sha256": "c1924dcbe1dadd3ac658423639e59a06e9f521b938fd34b889574cb9437beea0",
"pose": [
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
"timestamp": 5951.771401386,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-004.jpg",
"sha256": "fad250d9ba357fcf87c88ceebd7a265978ef7b95ee9442b9c973fed8725614e5",
"pose": [
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
"timestamp": 5952.367895976,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-005.jpg",
"sha256": "39b239d1ae5bcdee639be9c7c8fa12bb0d68b138a5117675692099ae39818bc4",
"pose": [
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
"timestamp": 5952.97157313,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-006.jpg",
"sha256": "b56b5cf970372c01f8330395657c8075574eddc86bc95d934ade71f49e9d0812",
"pose": [
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
"timestamp": 5953.571101641,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-007.jpg",
"sha256": "9f23e770759df4aa52f83a60bc732f0504ac586340cf7392d5a7c15a683ca440",
"pose": [
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
"timestamp": 5954.10555852,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-008.jpg",
"sha256": "8c999d21222c60499b4252765d829c1f1dd9117533c8764cb8429f2970b88154",
"pose": [
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
"timestamp": 5954.771720951,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-009.jpg",
"sha256": "20cf285113cfc8f35528886f8d00f12852519e7cf5412df2e53bd930ca345a09",
"pose": [
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
"timestamp": 5955.238043895,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-000.jpg",
"sha256": "62e691fefa7546bc37f968b645c3f78beb61659c036431195c6c4aa73a7ebc95",
"pose": [
2.5770259600030454,
0.026893765826585092,
-0.18487122111098842
],
"timestamp": 5957.577579919,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-001.jpg",
"sha256": "d51266da4aff1d8985275cab591b0d60c57583a91cb51bce81d32a3f415c66e8",
"pose": [
2.672921942757962,
0.002181452314393484,
-0.1798808411325532
],
"timestamp": 5958.307836798,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-002.jpg",
"sha256": "ff3218d2438779c5edb6414ed790c651afac16b30905ad477658ed35cc64d6be",
"pose": [
2.7727920460250983,
0.0015713715349374713,
0.0021154167209314068
],
"timestamp": 5959.177119909,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-003.jpg",
"sha256": "aff75c06661d398c9dc66e78d1f6ca7f9695019a661123f3fec632968a88179d",
"pose": [
2.866364080363207,
0.006063952915443815,
0.0755821452620089
],
"timestamp": 5959.776211925,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-004.jpg",
"sha256": "6b658d78e0bb8c01a1ed2e198ffeb93dc9eaffe745b68f2c1ecc4a12897915f2",
"pose": [
2.901994053874543,
0.013523352188166804,
0.08504062342941543
],
"timestamp": 5960.177537736,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-005.jpg",
"sha256": "c2356ddfe45cd19c89ee08abba7955f9f981508abdd53cf31f1b173beb058c94",
"pose": [
2.917292722615392,
0.014907332966162423,
0.06696675257330842
],
"timestamp": 5960.511325918,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-006.jpg",
"sha256": "2b8c0612fd9bb95d69edb2e3674a35ad9d7c2b2c6f82914ec9fb4aeb3b47bc91",
"pose": [
2.988692013766345,
0.022195776019219737,
0.06940359748846481
],
"timestamp": 5961.17945846,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-007.jpg",
"sha256": "e935566844c021c25b01dd05b7d038476512612b2171c1a15918257c42719d1d",
"pose": [
3.079076461658849,
0.027794674431075972,
0.08297848606516921
],
"timestamp": 5961.780117982,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-008.jpg",
"sha256": "06faa012eb6bb2b20d34a8fb759f24ac84a42b74f9fd34d3ed72c99067f0db6e",
"pose": [
3.1540280971212495,
0.04316157857154446,
0.12217718943148759
],
"timestamp": 5962.444301694,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-009.jpg",
"sha256": "040df580967d2f303b879df7d92a97c73b01c7dbf6ebfc970ccfcbb015a76a53",
"pose": [
3.2109467291177256,
0.050660950840768715,
0.15105286082637148
],
"timestamp": 5962.979235901,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-000.jpg",
"sha256": "ff9bfba59e8524ae2790e552525952220ae06fc8365d05ea727b65a9df291c96",
"pose": [
3.1986880475987625,
0.04874360323107929,
-0.06824009356862248
],
"timestamp": 5964.781133089,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-001.jpg",
"sha256": "ec715981223331997905ff2c4cfb6ec73c4bf5d8bb3264ae169f5bbd59745fe1",
"pose": [
3.269997026318161,
0.047161209520439895,
-0.06065230351517803
],
"timestamp": 5965.314742742,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-002.jpg",
"sha256": "1266dee15a875d63b35b28c5dd2f9212b8733c691e03003b604464df6e9fe03f",
"pose": [
3.3338211479808786,
0.05062971146167561,
0.06519077148228947
],
"timestamp": 5965.983209758,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-003.jpg",
"sha256": "dc1160da6aec0b8bc70b608a027b75f0525de4d7354dee6a371e835036e87b9e",
"pose": [
3.4061937120249772,
0.058950633587690815,
0.1633329486762638
],
"timestamp": 5966.916478225,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-004.jpg",
"sha256": "8b3cdb8c8f54b3b31ff9b332e3e1a35a4fd89f52f625d9e2bc72283c28a2cd1b",
"pose": [
3.471767714948841,
0.08568338731971847,
0.18747759951452414
],
"timestamp": 5967.583429224,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-005.jpg",
"sha256": "549b266f6397915c40f89c9632090fcd92c5a0bd810881be26981d7dd5022fe0",
"pose": [
3.54730698431577,
0.09896044199264753,
0.20671931447160222
],
"timestamp": 5968.252847087,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-006.jpg",
"sha256": "cfc30e4eb6f840c4921034cf9f378c4c873a733213b75d37de1b353270822f81",
"pose": [
3.6268589519970713,
0.12368777861251146,
0.19083599733716872
],
"timestamp": 5968.917748198,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-007.jpg",
"sha256": "f8ad8626ddcfe9dcf7d2b8f479155a43a0948da2fec333f2a05823d56d97cd55",
"pose": [
3.7199537250327257,
0.13865533305554,
0.20147834532783904
],
"timestamp": 5969.519273571,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-008.jpg",
"sha256": "d50e079dfb58d4302c9bdb3d9aea59f1ba82d68fbe9287f7973c9410f9e242d1",
"pose": [
3.7935857497215286,
0.161393175257887,
0.19686855906854817
],
"timestamp": 5970.120732223,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-009.jpg",
"sha256": "fcb9edb8ed0bf5f288ab687b82dc8257594ddb6e8619d36e8b2017a72bfd330d",
"pose": [
3.8547336138152675,
0.1727155037231316,
0.21574632122931137
],
"timestamp": 5970.656699902,
"observation_id": 60
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<14.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": [
[
0.11963898688554764,
-0.0009910486405715346,
-0.011033814400434494
],
[
0.1278009067720627,
-0.001169690299753365,
-0.013168558478355408
],
[
0.11123452152668621,
-0.0006318865467849263,
-0.01870928332209587
],
[
0.059662843088008496,
-0.0011114684749528917,
-0.17216702550649643
],
[
0.0623285104223821,
-0.0010119813193698226,
-0.16608551144599915
],
[
0.06493588286171567,
-0.0022967513780291215,
-0.14797425270080566
],
[
0.06118102970552137,
0.00016002351035181162,
-0.08563601970672607
],
[
0.06955627192627543,
0.0005293914134591043,
-0.049763619899749756
],
[
0.07493532985501204,
0.0007929391085376575,
-0.00904470682144165
],
[
0.020960048256866336,
-3.87685164872139e-05,
0.00910794734954834
]
],
"stop": false,
"plan": null,
"raw": "<apos_1191><opos_564><act_l0_73><act_l1_25><act_l2_54><|im_end|>",
"waypoints": [
[
0.11963898688554764,
-0.0009910486405715346,
-0.011033814400434494
],
[
0.24741920828819275,
-0.003570770611986518,
-0.0242023728787899
],
[
0.35860586166381836,
-0.006894348654896021,
-0.04291165620088577
],
[
0.4181661009788513,
-0.01056423969566822,
-0.2150786817073822
],
[
0.478842556476593,
-0.024855323135852814,
-0.38116419315338135
],
[
0.538263738155365,
-0.051143478602170944,
-0.529138445854187
],
[
0.5911585688591003,
-0.08188889920711517,
-0.6147744655609131
],
[
0.6482846736907959,
-0.12157470732927322,
-0.6645380854606628
],
[
0.7077628970146179,
-0.16716279089450836,
-0.6735827922821045
],
[
0.7241209149360657,
-0.18026776611804962,
-0.6644748449325562
]
],
"pointing": {
"apos": 1191,
"opos": 564
},
"rvq_codes": [
73,
25,
54
],
"model_input": {
"history_indices": [
0,
1,
5,
6,
11,
12,
17,
18,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
5,
6,
11,
12,
17,
18,
23,
24
],
"tensor": "processed/segment1.pt",
"shape": [
8,
3,
256,
448
]
},
{
"indices": [
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
57,
58
],
"tensor": "processed/segment3.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:<14.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
16,
19,
13,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<14.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
933
],
"attention_mask": [
1,
933
],
"pixel_values_videos": [
1,
9856,
1536
],
"video_grid_thw": [
4,
3
],
"_original_video_grid_thw": [
4,
3
],
"_post_vit_pool_factors": [
4
],
"position_ids": [
1,
3,
933
],
"mm_token_type_ids": [
1,
933
]
}
},
"history_fps": 4
},
"native_latency_ms": 551.8359919078648
},
"response": {
"type": "step",
"actions": [
[
0.11963898688554764,
-0.0009910486405715346,
-0.011033814400434494
],
[
0.1278009067720627,
-0.001169690299753365,
-0.013168558478355408
],
[
0.11123452152668621,
-0.0006318865467849263,
-0.01870928332209587
],
[
0.059662843088008496,
-0.0011114684749528917,
-0.17216702550649643
],
[
0.0623285104223821,
-0.0010119813193698226,
-0.16608551144599915
],
[
0.06493588286171567,
-0.0022967513780291215,
-0.14797425270080566
],
[
0.06118102970552137,
0.00016002351035181162,
-0.08563601970672607
],
[
0.06955627192627543,
0.0005293914134591043,
-0.049763619899749756
],
[
0.07493532985501204,
0.0007929391085376575,
-0.00904470682144165
],
[
0.020960048256866336,
-3.87685164872139e-05,
0.00910794734954834
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
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-20261018-204515-1d22f2ef",
"inference_id": 6,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.7981315348297358,
"peak_memory_bytes": 9566996480,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.8028473188169301
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.11963898688554764,
-0.0009910486405715346,
-0.011033814400434494
],
[
0.24741920828819272,
-0.003570770611986518,
-0.024202372878789905
],
[
0.3586058616638183,
-0.006894348654896021,
-0.04291165620088577
],
[
0.41816610097885126,
-0.01056423969566822,
-0.2150786817073822
],
[
0.47884255647659296,
-0.024855323135852817,
-0.38116419315338135
],
[
0.538263738155365,
-0.051143478602170944,
-0.5291384458541871
],
[
0.5911585688591003,
-0.08188889920711517,
-0.6147744655609132
],
[
0.6482846736907959,
-0.12157470732927324,
-0.664538085460663
],
[
0.7077628970146178,
-0.1671627908945084,
-0.6735827922821046
],
[
0.7241209149360656,
-0.18026776611804965,
-0.6644748449325562
]
],
"observed_poses": [
[
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
[
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
[
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
[
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
[
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
[
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
[
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
[
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
[
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
[
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
[
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
[
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
[
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
[
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
[
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
[
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
[
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
[
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
[
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
[
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
[
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
[
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
[
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
[
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
[
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
[
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
[
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
[
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
[
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
[
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
[
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
[
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
[
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
[
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
[
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
[
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
[
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
[
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
[
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
[
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
[
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
[
2.5770259600030454,
0.026893765826585092,
-0.18487122111098842
],
[
2.672921942757962,
0.002181452314393484,
-0.1798808411325532
],
[
2.7727920460250983,
0.0015713715349374713,
0.0021154167209314068
],
[
2.866364080363207,
0.006063952915443815,
0.0755821452620089
],
[
2.901994053874543,
0.013523352188166804,
0.08504062342941543
],
[
2.917292722615392,
0.014907332966162423,
0.06696675257330842
],
[
2.988692013766345,
0.022195776019219737,
0.06940359748846481
],
[
3.079076461658849,
0.027794674431075972,
0.08297848606516921
],
[
3.1540280971212495,
0.04316157857154446,
0.12217718943148759
],
[
3.2109467291177256,
0.050660950840768715,
0.15105286082637148
],
[
3.1986880475987625,
0.04874360323107929,
-0.06824009356862248
],
[
3.269997026318161,
0.047161209520439895,
-0.06065230351517803
],
[
3.3338211479808786,
0.05062971146167561,
0.06519077148228947
],
[
3.4061937120249772,
0.058950633587690815,
0.1633329486762638
],
[
3.471767714948841,
0.08568338731971847,
0.18747759951452414
],
[
3.54730698431577,
0.09896044199264753,
0.20671931447160222
],
[
3.6268589519970713,
0.12368777861251146,
0.19083599733716872
],
[
3.7199537250327257,
0.13865533305554,
0.20147834532783904
],
[
3.7935857497215286,
0.161393175257887,
0.19686855906854817
],
[
3.8547336138152675,
0.1727155037231316,
0.21574632122931137
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the vending machine",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-000.jpg",
"sha256": "f33e3669a6983589ab75a83495cfd83044427668278423b9abab2b2535171bcb",
"pose": [
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
"timestamp": 5937.219796418,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-001.jpg",
"sha256": "9b573fbead811b489e13ee19daf07f288f8cf49f47ab32811a1834ed8b018bc3",
"pose": [
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
"timestamp": 5937.752541211,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-002.jpg",
"sha256": "55c56b5f8b1736889adb965bd2ba788f783e90b4c2f8a65ba03a10e6a3ba65ad",
"pose": [
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
"timestamp": 5938.353692461,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-003.jpg",
"sha256": "8f9daf7116062defaeea2d137befe9ecee05c945a8c8f670ad4798659d405d51",
"pose": [
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
"timestamp": 5938.955933154,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-004.jpg",
"sha256": "9384301476813624cee1a6272228f26d90f9f74f18041c20cb3cded5103db030",
"pose": [
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
"timestamp": 5939.691742176,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-005.jpg",
"sha256": "efd37326a54b3ce82684fd4bef868971b64089bfd1f46670e448b66d1b908b1a",
"pose": [
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
"timestamp": 5940.356685017,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-006.jpg",
"sha256": "6b9f5cf163e996f40dd6df3fb65aecf59c82e94323855eb4288a7f073a20281b",
"pose": [
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
"timestamp": 5941.09041535,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-007.jpg",
"sha256": "b6bf461e4c11c91df3971e6a3dbff82206a0e63d5e486ad2d491a1c787975f3d",
"pose": [
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
"timestamp": 5941.625273426,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-008.jpg",
"sha256": "cb21f9b2a337e3ee0aaf87aa46506f1f27316f483dcb0fdcbe8d0083dbad938d",
"pose": [
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
"timestamp": 5942.224465574,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-009.jpg",
"sha256": "6f43edf0e4bd8847e5b4c45d517534b10700223791bfa0a51144cd9176462dd2",
"pose": [
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
"timestamp": 5942.894281752,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-000.jpg",
"sha256": "d39d3af6df2aeb5d74e8a7df679961513bba6b95b884e880fb97e29f0258977d",
"pose": [
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
"timestamp": 5943.759622306,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-001.jpg",
"sha256": "7b73f7d3d1c6a077064b85da79d893f7496c7cd37f460537831b4e99b2425f71",
"pose": [
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
"timestamp": 5944.361039324,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-002.jpg",
"sha256": "fab1d097d8f925d66380cfb916711d749674b399cf8cc639d57b675591aa689c",
"pose": [
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
"timestamp": 5944.761797213,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-003.jpg",
"sha256": "d3a3c576704a02f850f87954e047a6b9822e0f0b9f51421b6cc33a15ce044a28",
"pose": [
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
"timestamp": 5945.094937406,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-004.jpg",
"sha256": "54495944822a5ff39bbd713b248adbb97accfc03e568fc3a092834794238dc32",
"pose": [
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
"timestamp": 5945.696084272,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-005.jpg",
"sha256": "274348dfe896bea5d8ed31b4e29e7b37a5374eafd0839387e8a482c7f1ce545d",
"pose": [
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
"timestamp": 5946.295871383,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-006.jpg",
"sha256": "102f00e6304978607c8569b58a51c17f89a3688f154b49c55e4b5f0f1abf3d7c",
"pose": [
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
"timestamp": 5946.963119064,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-007.jpg",
"sha256": "4129fa54ad0c1d8790968a1d96686f9a79879b2d4cf5060d8a00f12ea15bd5a7",
"pose": [
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
"timestamp": 5947.497553063,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-008.jpg",
"sha256": "2dd0408fe593f9ac0d500730e7993d2e5b85bcce4251c844d37c8e80615703c0",
"pose": [
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
"timestamp": 5947.629493502,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-009.jpg",
"sha256": "fd2fa264bbce099ffb241dc2dc224d0af48f34f12cc64ad0f9d6f3c695da9822",
"pose": [
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
"timestamp": 5947.7672307,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-000.jpg",
"sha256": "c9abc721fc53d5424282873d038f82f3d340474211c8f20ff7429639ff3b4062",
"pose": [
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
"timestamp": 5950.034716793,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-001.jpg",
"sha256": "2220bbe2bec1c84a9592ca7fa8a3f58587e43d66ccdb3be7593c4f842f3ceefc",
"pose": [
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
"timestamp": 5950.567815133,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-002.jpg",
"sha256": "685aa2b537611f7c96fdd8f1ba0eeaef8a885cd5cbb9ae94d36331402a4e1984",
"pose": [
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
"timestamp": 5951.235404298,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-003.jpg",
"sha256": "c1924dcbe1dadd3ac658423639e59a06e9f521b938fd34b889574cb9437beea0",
"pose": [
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
"timestamp": 5951.771401386,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-004.jpg",
"sha256": "fad250d9ba357fcf87c88ceebd7a265978ef7b95ee9442b9c973fed8725614e5",
"pose": [
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
"timestamp": 5952.367895976,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-005.jpg",
"sha256": "39b239d1ae5bcdee639be9c7c8fa12bb0d68b138a5117675692099ae39818bc4",
"pose": [
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
"timestamp": 5952.97157313,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-006.jpg",
"sha256": "b56b5cf970372c01f8330395657c8075574eddc86bc95d934ade71f49e9d0812",
"pose": [
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
"timestamp": 5953.571101641,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-007.jpg",
"sha256": "9f23e770759df4aa52f83a60bc732f0504ac586340cf7392d5a7c15a683ca440",
"pose": [
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
"timestamp": 5954.10555852,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-008.jpg",
"sha256": "8c999d21222c60499b4252765d829c1f1dd9117533c8764cb8429f2970b88154",
"pose": [
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
"timestamp": 5954.771720951,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-009.jpg",
"sha256": "20cf285113cfc8f35528886f8d00f12852519e7cf5412df2e53bd930ca345a09",
"pose": [
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
"timestamp": 5955.238043895,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-000.jpg",
"sha256": "62e691fefa7546bc37f968b645c3f78beb61659c036431195c6c4aa73a7ebc95",
"pose": [
2.5770259600030454,
0.026893765826585092,
-0.18487122111098842
],
"timestamp": 5957.577579919,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-001.jpg",
"sha256": "d51266da4aff1d8985275cab591b0d60c57583a91cb51bce81d32a3f415c66e8",
"pose": [
2.672921942757962,
0.002181452314393484,
-0.1798808411325532
],
"timestamp": 5958.307836798,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-002.jpg",
"sha256": "ff3218d2438779c5edb6414ed790c651afac16b30905ad477658ed35cc64d6be",
"pose": [
2.7727920460250983,
0.0015713715349374713,
0.0021154167209314068
],
"timestamp": 5959.177119909,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-003.jpg",
"sha256": "aff75c06661d398c9dc66e78d1f6ca7f9695019a661123f3fec632968a88179d",
"pose": [
2.866364080363207,
0.006063952915443815,
0.0755821452620089
],
"timestamp": 5959.776211925,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-004.jpg",
"sha256": "6b658d78e0bb8c01a1ed2e198ffeb93dc9eaffe745b68f2c1ecc4a12897915f2",
"pose": [
2.901994053874543,
0.013523352188166804,
0.08504062342941543
],
"timestamp": 5960.177537736,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-005.jpg",
"sha256": "c2356ddfe45cd19c89ee08abba7955f9f981508abdd53cf31f1b173beb058c94",
"pose": [
2.917292722615392,
0.014907332966162423,
0.06696675257330842
],
"timestamp": 5960.511325918,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-006.jpg",
"sha256": "2b8c0612fd9bb95d69edb2e3674a35ad9d7c2b2c6f82914ec9fb4aeb3b47bc91",
"pose": [
2.988692013766345,
0.022195776019219737,
0.06940359748846481
],
"timestamp": 5961.17945846,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-007.jpg",
"sha256": "e935566844c021c25b01dd05b7d038476512612b2171c1a15918257c42719d1d",
"pose": [
3.079076461658849,
0.027794674431075972,
0.08297848606516921
],
"timestamp": 5961.780117982,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-008.jpg",
"sha256": "06faa012eb6bb2b20d34a8fb759f24ac84a42b74f9fd34d3ed72c99067f0db6e",
"pose": [
3.1540280971212495,
0.04316157857154446,
0.12217718943148759
],
"timestamp": 5962.444301694,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-009.jpg",
"sha256": "040df580967d2f303b879df7d92a97c73b01c7dbf6ebfc970ccfcbb015a76a53",
"pose": [
3.2109467291177256,
0.050660950840768715,
0.15105286082637148
],
"timestamp": 5962.979235901,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-000.jpg",
"sha256": "ff9bfba59e8524ae2790e552525952220ae06fc8365d05ea727b65a9df291c96",
"pose": [
3.1986880475987625,
0.04874360323107929,
-0.06824009356862248
],
"timestamp": 5964.781133089,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-001.jpg",
"sha256": "ec715981223331997905ff2c4cfb6ec73c4bf5d8bb3264ae169f5bbd59745fe1",
"pose": [
3.269997026318161,
0.047161209520439895,
-0.06065230351517803
],
"timestamp": 5965.314742742,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-002.jpg",
"sha256": "1266dee15a875d63b35b28c5dd2f9212b8733c691e03003b604464df6e9fe03f",
"pose": [
3.3338211479808786,
0.05062971146167561,
0.06519077148228947
],
"timestamp": 5965.983209758,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-003.jpg",
"sha256": "dc1160da6aec0b8bc70b608a027b75f0525de4d7354dee6a371e835036e87b9e",
"pose": [
3.4061937120249772,
0.058950633587690815,
0.1633329486762638
],
"timestamp": 5966.916478225,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-004.jpg",
"sha256": "8b3cdb8c8f54b3b31ff9b332e3e1a35a4fd89f52f625d9e2bc72283c28a2cd1b",
"pose": [
3.471767714948841,
0.08568338731971847,
0.18747759951452414
],
"timestamp": 5967.583429224,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-005.jpg",
"sha256": "549b266f6397915c40f89c9632090fcd92c5a0bd810881be26981d7dd5022fe0",
"pose": [
3.54730698431577,
0.09896044199264753,
0.20671931447160222
],
"timestamp": 5968.252847087,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-006.jpg",
"sha256": "cfc30e4eb6f840c4921034cf9f378c4c873a733213b75d37de1b353270822f81",
"pose": [
3.6268589519970713,
0.12368777861251146,
0.19083599733716872
],
"timestamp": 5968.917748198,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-007.jpg",
"sha256": "f8ad8626ddcfe9dcf7d2b8f479155a43a0948da2fec333f2a05823d56d97cd55",
"pose": [
3.7199537250327257,
0.13865533305554,
0.20147834532783904
],
"timestamp": 5969.519273571,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-008.jpg",
"sha256": "d50e079dfb58d4302c9bdb3d9aea59f1ba82d68fbe9287f7973c9410f9e242d1",
"pose": [
3.7935857497215286,
0.161393175257887,
0.19686855906854817
],
"timestamp": 5970.120732223,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-009.jpg",
"sha256": "fcb9edb8ed0bf5f288ab687b82dc8257594ddb6e8619d36e8b2017a72bfd330d",
"pose": [
3.8547336138152675,
0.1727155037231316,
0.21574632122931137
],
"timestamp": 5970.656699902,
"observation_id": 60
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-000.jpg",
"sha256": "b11241761c5a950e4da3cbc5d8a08673158c41a5cbaeaa1279038915cab1112f",
"pose": [
3.9131479894480714,
0.18803205180754068,
0.22694086087710907
],
"timestamp": 5972.257445402,
"observation_id": 61
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-001.jpg",
"sha256": "83ba98b0e13ed2aca9616ace776b64ac4d1574c74938bfba85f7c539d112d1c5",
"pose": [
3.989382244115096,
0.20196523119561038,
0.24940585842928886
],
"timestamp": 5972.922926051,
"observation_id": 62
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-002.jpg",
"sha256": "008d4ad82768443c7f4d7e624087a8623036bbda59572c97c86db774ef386a3f",
"pose": [
4.054785757241524,
0.2232401387473415,
0.24444817885612657
],
"timestamp": 5973.522513923,
"observation_id": 63
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-003.jpg",
"sha256": "588bc4d3b93a08940703a930ff1fbb1859f3d0036df02709a7d3ea2ba47bf3c9",
"pose": [
4.064706240590785,
0.22921717663514496,
0.11784310761193373
],
"timestamp": 5974.6565869,
"observation_id": 64
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-004.jpg",
"sha256": "d1eb552d7b2def2bdd540b1eec105ea69e66f07bf03d0efb95c0692e2d02daa1",
"pose": [
4.0805466315310674,
0.23539931255406077,
-0.012934639483433319
],
"timestamp": 5975.862923608,
"observation_id": 65
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-005.jpg",
"sha256": "417ad904225a2980e78710775bf1f899a9bd4021b9ad795010f245349bb90914",
"pose": [
4.0974711004833395,
0.23648583190461459,
-0.1017598135957205
],
"timestamp": 5976.726930487,
"observation_id": 66
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-006.jpg",
"sha256": "ab21ffa6d77a27c42fd25a57931cd1cca00ed3501e9b89714136de54ade0e8a6",
"pose": [
4.1227345587430095,
0.23726061482155214,
-0.15660907176837702
],
"timestamp": 5977.12644008,
"observation_id": 67
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-007.jpg",
"sha256": "150c3e6064a0f7cbfa148a6fb4a8c94de0eb1c36b89caa4e4e3a7319ffa2aa4a",
"pose": [
4.1504796261482895,
0.23536312887559152,
-0.17729896708660453
],
"timestamp": 5977.461354506,
"observation_id": 68
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-008.jpg",
"sha256": "f5f00732f286d99823e939d21f4ac7913c3b88dd0bb957302c372e5879b75349",
"pose": [
4.183963481812956,
0.2287775916040442,
-0.17259795859165725
],
"timestamp": 5977.862142476,
"observation_id": 69
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-009.jpg",
"sha256": "26aa768d7ee136fd3feb9adb4828c5e51680148aa18b4ad927f8fc17e64570c1",
"pose": [
4.1837593560038995,
0.22754812174777528,
-0.1619587863796963
],
"timestamp": 5977.994948126,
"observation_id": 70
}
],
"time_resampled_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69,
70
],
"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": 2.4020065810000233,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
4,
5,
10,
11,
16,
17,
22,
23,
28,
29,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
4,
5,
10,
11,
16,
17,
22,
23,
28,
29,
34,
35
],
"tensor": "processed/segment1.pt",
"shape": [
12,
3,
256,
448
]
},
{
"indices": [
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
68,
69
],
"tensor": "processed/segment3.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:<17.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><16.1 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|><|vision_end|><14.6 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|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
16,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<17.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><16.1 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|><|vision_end|><14.6 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|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
1007
],
"attention_mask": [
1,
1007
],
"pixel_values_videos": [
1,
10752,
1536
],
"video_grid_thw": [
4,
3
],
"_original_video_grid_thw": [
4,
3
],
"_post_vit_pool_factors": [
4
],
"position_ids": [
1,
3,
1007
],
"mm_token_type_ids": [
1,
1007
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-000.jpg",
"sha256": "f33e3669a6983589ab75a83495cfd83044427668278423b9abab2b2535171bcb",
"pose": [
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
"timestamp": 5937.219796418,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-005.jpg",
"sha256": "efd37326a54b3ce82684fd4bef868971b64089bfd1f46670e448b66d1b908b1a",
"pose": [
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
"timestamp": 5940.356685017,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-006.jpg",
"sha256": "6b9f5cf163e996f40dd6df3fb65aecf59c82e94323855eb4288a7f073a20281b",
"pose": [
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
"timestamp": 5941.09041535,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-001.jpg",
"sha256": "7b73f7d3d1c6a077064b85da79d893f7496c7cd37f460537831b4e99b2425f71",
"pose": [
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
"timestamp": 5944.361039324,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-002.jpg",
"sha256": "fab1d097d8f925d66380cfb916711d749674b399cf8cc639d57b675591aa689c",
"pose": [
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
"timestamp": 5944.761797213,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-007.jpg",
"sha256": "4129fa54ad0c1d8790968a1d96686f9a79879b2d4cf5060d8a00f12ea15bd5a7",
"pose": [
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
"timestamp": 5947.497553063,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-009.jpg",
"sha256": "fd2fa264bbce099ffb241dc2dc224d0af48f34f12cc64ad0f9d6f3c695da9822",
"pose": [
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
"timestamp": 5947.7672307,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-004.jpg",
"sha256": "fad250d9ba357fcf87c88ceebd7a265978ef7b95ee9442b9c973fed8725614e5",
"pose": [
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
"timestamp": 5952.367895976,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-005.jpg",
"sha256": "39b239d1ae5bcdee639be9c7c8fa12bb0d68b138a5117675692099ae39818bc4",
"pose": [
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
"timestamp": 5952.97157313,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-006.jpg",
"sha256": "b56b5cf970372c01f8330395657c8075574eddc86bc95d934ade71f49e9d0812",
"pose": [
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
"timestamp": 5953.571101641,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-007.jpg",
"sha256": "9f23e770759df4aa52f83a60bc732f0504ac586340cf7392d5a7c15a683ca440",
"pose": [
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
"timestamp": 5954.10555852,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-008.jpg",
"sha256": "8c999d21222c60499b4252765d829c1f1dd9117533c8764cb8429f2970b88154",
"pose": [
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
"timestamp": 5954.771720951,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-009.jpg",
"sha256": "20cf285113cfc8f35528886f8d00f12852519e7cf5412df2e53bd930ca345a09",
"pose": [
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
"timestamp": 5955.238043895,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-000.jpg",
"sha256": "62e691fefa7546bc37f968b645c3f78beb61659c036431195c6c4aa73a7ebc95",
"pose": [
2.5770259600030454,
0.026893765826585092,
-0.18487122111098842
],
"timestamp": 5957.577579919,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-001.jpg",
"sha256": "d51266da4aff1d8985275cab591b0d60c57583a91cb51bce81d32a3f415c66e8",
"pose": [
2.672921942757962,
0.002181452314393484,
-0.1798808411325532
],
"timestamp": 5958.307836798,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-002.jpg",
"sha256": "ff3218d2438779c5edb6414ed790c651afac16b30905ad477658ed35cc64d6be",
"pose": [
2.7727920460250983,
0.0015713715349374713,
0.0021154167209314068
],
"timestamp": 5959.177119909,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-003.jpg",
"sha256": "aff75c06661d398c9dc66e78d1f6ca7f9695019a661123f3fec632968a88179d",
"pose": [
2.866364080363207,
0.006063952915443815,
0.0755821452620089
],
"timestamp": 5959.776211925,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-004.jpg",
"sha256": "6b658d78e0bb8c01a1ed2e198ffeb93dc9eaffe745b68f2c1ecc4a12897915f2",
"pose": [
2.901994053874543,
0.013523352188166804,
0.08504062342941543
],
"timestamp": 5960.177537736,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-005.jpg",
"sha256": "c2356ddfe45cd19c89ee08abba7955f9f981508abdd53cf31f1b173beb058c94",
"pose": [
2.917292722615392,
0.014907332966162423,
0.06696675257330842
],
"timestamp": 5960.511325918,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-006.jpg",
"sha256": "2b8c0612fd9bb95d69edb2e3674a35ad9d7c2b2c6f82914ec9fb4aeb3b47bc91",
"pose": [
2.988692013766345,
0.022195776019219737,
0.06940359748846481
],
"timestamp": 5961.17945846,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-007.jpg",
"sha256": "e935566844c021c25b01dd05b7d038476512612b2171c1a15918257c42719d1d",
"pose": [
3.079076461658849,
0.027794674431075972,
0.08297848606516921
],
"timestamp": 5961.780117982,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-008.jpg",
"sha256": "06faa012eb6bb2b20d34a8fb759f24ac84a42b74f9fd34d3ed72c99067f0db6e",
"pose": [
3.1540280971212495,
0.04316157857154446,
0.12217718943148759
],
"timestamp": 5962.444301694,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-009.jpg",
"sha256": "040df580967d2f303b879df7d92a97c73b01c7dbf6ebfc970ccfcbb015a76a53",
"pose": [
3.2109467291177256,
0.050660950840768715,
0.15105286082637148
],
"timestamp": 5962.979235901,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-000.jpg",
"sha256": "ff9bfba59e8524ae2790e552525952220ae06fc8365d05ea727b65a9df291c96",
"pose": [
3.1986880475987625,
0.04874360323107929,
-0.06824009356862248
],
"timestamp": 5964.781133089,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-001.jpg",
"sha256": "ec715981223331997905ff2c4cfb6ec73c4bf5d8bb3264ae169f5bbd59745fe1",
"pose": [
3.269997026318161,
0.047161209520439895,
-0.06065230351517803
],
"timestamp": 5965.314742742,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-002.jpg",
"sha256": "1266dee15a875d63b35b28c5dd2f9212b8733c691e03003b604464df6e9fe03f",
"pose": [
3.3338211479808786,
0.05062971146167561,
0.06519077148228947
],
"timestamp": 5965.983209758,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-003.jpg",
"sha256": "dc1160da6aec0b8bc70b608a027b75f0525de4d7354dee6a371e835036e87b9e",
"pose": [
3.4061937120249772,
0.058950633587690815,
0.1633329486762638
],
"timestamp": 5966.916478225,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-004.jpg",
"sha256": "8b3cdb8c8f54b3b31ff9b332e3e1a35a4fd89f52f625d9e2bc72283c28a2cd1b",
"pose": [
3.471767714948841,
0.08568338731971847,
0.18747759951452414
],
"timestamp": 5967.583429224,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-005.jpg",
"sha256": "549b266f6397915c40f89c9632090fcd92c5a0bd810881be26981d7dd5022fe0",
"pose": [
3.54730698431577,
0.09896044199264753,
0.20671931447160222
],
"timestamp": 5968.252847087,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-006.jpg",
"sha256": "cfc30e4eb6f840c4921034cf9f378c4c873a733213b75d37de1b353270822f81",
"pose": [
3.6268589519970713,
0.12368777861251146,
0.19083599733716872
],
"timestamp": 5968.917748198,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-007.jpg",
"sha256": "f8ad8626ddcfe9dcf7d2b8f479155a43a0948da2fec333f2a05823d56d97cd55",
"pose": [
3.7199537250327257,
0.13865533305554,
0.20147834532783904
],
"timestamp": 5969.519273571,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-008.jpg",
"sha256": "d50e079dfb58d4302c9bdb3d9aea59f1ba82d68fbe9287f7973c9410f9e242d1",
"pose": [
3.7935857497215286,
0.161393175257887,
0.19686855906854817
],
"timestamp": 5970.120732223,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-009.jpg",
"sha256": "fcb9edb8ed0bf5f288ab687b82dc8257594ddb6e8619d36e8b2017a72bfd330d",
"pose": [
3.8547336138152675,
0.1727155037231316,
0.21574632122931137
],
"timestamp": 5970.656699902,
"observation_id": 60
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-000.jpg",
"sha256": "b11241761c5a950e4da3cbc5d8a08673158c41a5cbaeaa1279038915cab1112f",
"pose": [
3.9131479894480714,
0.18803205180754068,
0.22694086087710907
],
"timestamp": 5972.257445402,
"observation_id": 61
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-001.jpg",
"sha256": "83ba98b0e13ed2aca9616ace776b64ac4d1574c74938bfba85f7c539d112d1c5",
"pose": [
3.989382244115096,
0.20196523119561038,
0.24940585842928886
],
"timestamp": 5972.922926051,
"observation_id": 62
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-002.jpg",
"sha256": "008d4ad82768443c7f4d7e624087a8623036bbda59572c97c86db774ef386a3f",
"pose": [
4.054785757241524,
0.2232401387473415,
0.24444817885612657
],
"timestamp": 5973.522513923,
"observation_id": 63
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-003.jpg",
"sha256": "588bc4d3b93a08940703a930ff1fbb1859f3d0036df02709a7d3ea2ba47bf3c9",
"pose": [
4.064706240590785,
0.22921717663514496,
0.11784310761193373
],
"timestamp": 5974.6565869,
"observation_id": 64
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-004.jpg",
"sha256": "d1eb552d7b2def2bdd540b1eec105ea69e66f07bf03d0efb95c0692e2d02daa1",
"pose": [
4.0805466315310674,
0.23539931255406077,
-0.012934639483433319
],
"timestamp": 5975.862923608,
"observation_id": 65
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-005.jpg",
"sha256": "417ad904225a2980e78710775bf1f899a9bd4021b9ad795010f245349bb90914",
"pose": [
4.0974711004833395,
0.23648583190461459,
-0.1017598135957205
],
"timestamp": 5976.726930487,
"observation_id": 66
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-006.jpg",
"sha256": "ab21ffa6d77a27c42fd25a57931cd1cca00ed3501e9b89714136de54ade0e8a6",
"pose": [
4.1227345587430095,
0.23726061482155214,
-0.15660907176837702
],
"timestamp": 5977.12644008,
"observation_id": 67
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-007.jpg",
"sha256": "150c3e6064a0f7cbfa148a6fb4a8c94de0eb1c36b89caa4e4e3a7319ffa2aa4a",
"pose": [
4.1504796261482895,
0.23536312887559152,
-0.17729896708660453
],
"timestamp": 5977.461354506,
"observation_id": 68
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-008.jpg",
"sha256": "f5f00732f286d99823e939d21f4ac7913c3b88dd0bb957302c372e5879b75349",
"pose": [
4.183963481812956,
0.2287775916040442,
-0.17259795859165725
],
"timestamp": 5977.862142476,
"observation_id": 69
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-009.jpg",
"sha256": "26aa768d7ee136fd3feb9adb4828c5e51680148aa18b4ad927f8fc17e64570c1",
"pose": [
4.1837593560038995,
0.22754812174777528,
-0.1619587863796963
],
"timestamp": 5977.994948126,
"observation_id": 70
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<17.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><16.1 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|><|vision_end|><14.6 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|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": [
[
0.0017610731301829219,
0.001432183664292097,
-0.29962995648384094
],
[
0.14570213952794292,
-0.012604400242322053,
-0.011125832796096803
],
[
0.14001499708270707,
0.013658244802515044,
0.20506123453378675
],
[
0.13916921245551467,
0.00619462841275896,
0.1004914017394185
],
[
0.08133922111787786,
0.0038810258886905705,
-0.00595152098685503
],
[
0.060549004424404376,
0.0018220139945637182,
-0.043193113058805466
],
[
0.11810187251042122,
0.0010861816055666319,
-0.03109409287571907
],
[
0.13130103353144568,
0.0004156610950267897,
-0.007723316550254822
],
[
0.12355742257424808,
0.00010396882344883805,
0.04506359621882439
],
[
0.10017517343713295,
7.968772199740473e-06,
0.004635866731405258
]
],
"stop": false,
"plan": null,
"raw": "<apos_1133><opos_512><act_l0_27><act_l1_47><act_l2_67><|im_end|>",
"waypoints": [
[
0.0017610731301829219,
0.001432183664292097,
-0.29962995648384094
],
[
0.13725116848945618,
-0.05361705273389816,
-0.31075578927993774
],
[
0.274736225605011,
-0.08342655003070831,
-0.10569455474615097
],
[
0.4137823283672333,
-0.09194854646921158,
-0.005203153006732464
],
[
0.4951406419277191,
-0.088490791618824,
-0.011154673993587494
],
[
0.5557062029838562,
-0.08734428137540817,
-0.05434778705239296
],
[
0.6736927032470703,
-0.092675119638443,
-0.08544187992811203
],
[
0.8045502305030823,
-0.10346593707799911,
-0.09316519647836685
],
[
0.9275814890861511,
-0.1148570254445076,
-0.048101600259542465
],
[
1.0276411771774292,
-0.11966579407453537,
-0.04346573352813721
]
],
"pointing": {
"apos": 1133,
"opos": 512
},
"rvq_codes": [
27,
47,
67
],
"model_input": {
"history_indices": [
0,
1,
4,
5,
10,
11,
16,
17,
22,
23,
28,
29,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
4,
5,
10,
11,
16,
17,
22,
23,
28,
29,
34,
35
],
"tensor": "processed/segment1.pt",
"shape": [
12,
3,
256,
448
]
},
{
"indices": [
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
68,
69
],
"tensor": "processed/segment3.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:<17.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><16.1 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|><|vision_end|><14.6 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|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
16,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<17.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><16.1 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|><|vision_end|><14.6 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|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
1007
],
"attention_mask": [
1,
1007
],
"pixel_values_videos": [
1,
10752,
1536
],
"video_grid_thw": [
4,
3
],
"_original_video_grid_thw": [
4,
3
],
"_post_vit_pool_factors": [
4
],
"position_ids": [
1,
3,
1007
],
"mm_token_type_ids": [
1,
1007
]
}
},
"history_fps": 4
},
"native_latency_ms": 249.64334489777684
},
"response": {
"type": "step",
"actions": [
[
0.0017610731301829219,
0.001432183664292097,
-0.29962995648384094
],
[
0.14570213952794292,
-0.012604400242322053,
-0.011125832796096803
],
[
0.14001499708270707,
0.013658244802515044,
0.20506123453378675
],
[
0.13916921245551467,
0.00619462841275896,
0.1004914017394185
],
[
0.08133922111787786,
0.0038810258886905705,
-0.00595152098685503
],
[
0.060549004424404376,
0.0018220139945637182,
-0.043193113058805466
],
[
0.11810187251042122,
0.0010861816055666319,
-0.03109409287571907
],
[
0.13130103353144568,
0.0004156610950267897,
-0.007723316550254822
],
[
0.12355742257424808,
0.00010396882344883805,
0.04506359621882439
],
[
0.10017517343713295,
7.968772199740473e-06,
0.004635866731405258
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
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-20261018-204515-1d22f2ef",
"inference_id": 7,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.4773413520306349,
"peak_memory_bytes": 9608091136,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.4820226849988103
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.0017610731301829219,
0.001432183664292097,
-0.29962995648384094
],
[
0.13725116848945618,
-0.05361705273389816,
-0.31075578927993774
],
[
0.274736225605011,
-0.08342655003070831,
-0.105694554746151
],
[
0.4137823283672332,
-0.09194854646921159,
-0.005203153006732492
],
[
0.49514064192771906,
-0.08849079161882402,
-0.011154673993587522
],
[
0.5557062029838561,
-0.08734428137540819,
-0.05434778705239299
],
[
0.6736927032470702,
-0.09267511963844302,
-0.08544187992811207
],
[
0.8045502305030822,
-0.10346593707799914,
-0.0931651964783669
],
[
0.927581489086151,
-0.11485702544450763,
-0.04810160025954251
],
[
1.0276411771774292,
-0.1196657940745354,
-0.04346573352813725
]
],
"observed_poses": [
[
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
[
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
[
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
[
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
[
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
[
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
[
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
[
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
[
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
[
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
[
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
[
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
[
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
[
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
[
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
[
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
[
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
[
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
[
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
[
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
[
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
[
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
[
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
[
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
[
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
[
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
[
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
[
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
[
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
[
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
[
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
[
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
[
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
[
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
[
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
[
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
[
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
[
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
[
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
[
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
[
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
[
2.5770259600030454,
0.026893765826585092,
-0.18487122111098842
],
[
2.672921942757962,
0.002181452314393484,
-0.1798808411325532
],
[
2.7727920460250983,
0.0015713715349374713,
0.0021154167209314068
],
[
2.866364080363207,
0.006063952915443815,
0.0755821452620089
],
[
2.901994053874543,
0.013523352188166804,
0.08504062342941543
],
[
2.917292722615392,
0.014907332966162423,
0.06696675257330842
],
[
2.988692013766345,
0.022195776019219737,
0.06940359748846481
],
[
3.079076461658849,
0.027794674431075972,
0.08297848606516921
],
[
3.1540280971212495,
0.04316157857154446,
0.12217718943148759
],
[
3.2109467291177256,
0.050660950840768715,
0.15105286082637148
],
[
3.1986880475987625,
0.04874360323107929,
-0.06824009356862248
],
[
3.269997026318161,
0.047161209520439895,
-0.06065230351517803
],
[
3.3338211479808786,
0.05062971146167561,
0.06519077148228947
],
[
3.4061937120249772,
0.058950633587690815,
0.1633329486762638
],
[
3.471767714948841,
0.08568338731971847,
0.18747759951452414
],
[
3.54730698431577,
0.09896044199264753,
0.20671931447160222
],
[
3.6268589519970713,
0.12368777861251146,
0.19083599733716872
],
[
3.7199537250327257,
0.13865533305554,
0.20147834532783904
],
[
3.7935857497215286,
0.161393175257887,
0.19686855906854817
],
[
3.8547336138152675,
0.1727155037231316,
0.21574632122931137
],
[
3.9131479894480714,
0.18803205180754068,
0.22694086087710907
],
[
3.989382244115096,
0.20196523119561038,
0.24940585842928886
],
[
4.054785757241524,
0.2232401387473415,
0.24444817885612657
],
[
4.064706240590785,
0.22921717663514496,
0.11784310761193373
],
[
4.0805466315310674,
0.23539931255406077,
-0.012934639483433319
],
[
4.0974711004833395,
0.23648583190461459,
-0.1017598135957205
],
[
4.1227345587430095,
0.23726061482155214,
-0.15660907176837702
],
[
4.1504796261482895,
0.23536312887559152,
-0.17729896708660453
],
[
4.183963481812956,
0.2287775916040442,
-0.17259795859165725
],
[
4.1837593560038995,
0.22754812174777528,
-0.1619587863796963
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the vending machine",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-003.jpg",
"sha256": "346a4762bc63a3c9c377bcd58b134e31d8d536d1bc5b65a8b37180a07cf12c98",
"pose": [
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
"timestamp": 5933.082206783,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-004.jpg",
"sha256": "c61140c911958db731db5d74d814272baaea88c052309d85fd3f80e9a0040e9b",
"pose": [
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
"timestamp": 5933.482878429,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-005.jpg",
"sha256": "10b62fefc923f5ec88bb2f105f70eacaf546e02e85b39b0fbd965c2f7b86f4c5",
"pose": [
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
"timestamp": 5934.017155559,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-006.jpg",
"sha256": "088131d3843d5ee3890b3771e646f30ed79a1509128f13f0ab42f5bc1d6ab951",
"pose": [
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
"timestamp": 5934.552682968,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-009.jpg",
"sha256": "0021f4ec6d1595ed75bad04a57c9552f670fc36d282dcfaaa69fb422eadd3beb",
"pose": [
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
"timestamp": 5936.417189053,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-000.jpg",
"sha256": "f33e3669a6983589ab75a83495cfd83044427668278423b9abab2b2535171bcb",
"pose": [
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
"timestamp": 5937.219796418,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-001.jpg",
"sha256": "9b573fbead811b489e13ee19daf07f288f8cf49f47ab32811a1834ed8b018bc3",
"pose": [
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
"timestamp": 5937.752541211,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-002.jpg",
"sha256": "55c56b5f8b1736889adb965bd2ba788f783e90b4c2f8a65ba03a10e6a3ba65ad",
"pose": [
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
"timestamp": 5938.353692461,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-003.jpg",
"sha256": "8f9daf7116062defaeea2d137befe9ecee05c945a8c8f670ad4798659d405d51",
"pose": [
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
"timestamp": 5938.955933154,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-004.jpg",
"sha256": "9384301476813624cee1a6272228f26d90f9f74f18041c20cb3cded5103db030",
"pose": [
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
"timestamp": 5939.691742176,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-005.jpg",
"sha256": "efd37326a54b3ce82684fd4bef868971b64089bfd1f46670e448b66d1b908b1a",
"pose": [
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
"timestamp": 5940.356685017,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-006.jpg",
"sha256": "6b9f5cf163e996f40dd6df3fb65aecf59c82e94323855eb4288a7f073a20281b",
"pose": [
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
"timestamp": 5941.09041535,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-007.jpg",
"sha256": "b6bf461e4c11c91df3971e6a3dbff82206a0e63d5e486ad2d491a1c787975f3d",
"pose": [
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
"timestamp": 5941.625273426,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-008.jpg",
"sha256": "cb21f9b2a337e3ee0aaf87aa46506f1f27316f483dcb0fdcbe8d0083dbad938d",
"pose": [
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
"timestamp": 5942.224465574,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-009.jpg",
"sha256": "6f43edf0e4bd8847e5b4c45d517534b10700223791bfa0a51144cd9176462dd2",
"pose": [
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
"timestamp": 5942.894281752,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-000.jpg",
"sha256": "d39d3af6df2aeb5d74e8a7df679961513bba6b95b884e880fb97e29f0258977d",
"pose": [
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
"timestamp": 5943.759622306,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-001.jpg",
"sha256": "7b73f7d3d1c6a077064b85da79d893f7496c7cd37f460537831b4e99b2425f71",
"pose": [
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
"timestamp": 5944.361039324,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-002.jpg",
"sha256": "fab1d097d8f925d66380cfb916711d749674b399cf8cc639d57b675591aa689c",
"pose": [
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
"timestamp": 5944.761797213,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-003.jpg",
"sha256": "d3a3c576704a02f850f87954e047a6b9822e0f0b9f51421b6cc33a15ce044a28",
"pose": [
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
"timestamp": 5945.094937406,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-004.jpg",
"sha256": "54495944822a5ff39bbd713b248adbb97accfc03e568fc3a092834794238dc32",
"pose": [
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
"timestamp": 5945.696084272,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-005.jpg",
"sha256": "274348dfe896bea5d8ed31b4e29e7b37a5374eafd0839387e8a482c7f1ce545d",
"pose": [
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
"timestamp": 5946.295871383,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-006.jpg",
"sha256": "102f00e6304978607c8569b58a51c17f89a3688f154b49c55e4b5f0f1abf3d7c",
"pose": [
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
"timestamp": 5946.963119064,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-007.jpg",
"sha256": "4129fa54ad0c1d8790968a1d96686f9a79879b2d4cf5060d8a00f12ea15bd5a7",
"pose": [
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
"timestamp": 5947.497553063,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-008.jpg",
"sha256": "2dd0408fe593f9ac0d500730e7993d2e5b85bcce4251c844d37c8e80615703c0",
"pose": [
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
"timestamp": 5947.629493502,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-009.jpg",
"sha256": "fd2fa264bbce099ffb241dc2dc224d0af48f34f12cc64ad0f9d6f3c695da9822",
"pose": [
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
"timestamp": 5947.7672307,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-000.jpg",
"sha256": "c9abc721fc53d5424282873d038f82f3d340474211c8f20ff7429639ff3b4062",
"pose": [
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
"timestamp": 5950.034716793,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-001.jpg",
"sha256": "2220bbe2bec1c84a9592ca7fa8a3f58587e43d66ccdb3be7593c4f842f3ceefc",
"pose": [
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
"timestamp": 5950.567815133,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-002.jpg",
"sha256": "685aa2b537611f7c96fdd8f1ba0eeaef8a885cd5cbb9ae94d36331402a4e1984",
"pose": [
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
"timestamp": 5951.235404298,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-003.jpg",
"sha256": "c1924dcbe1dadd3ac658423639e59a06e9f521b938fd34b889574cb9437beea0",
"pose": [
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
"timestamp": 5951.771401386,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-004.jpg",
"sha256": "fad250d9ba357fcf87c88ceebd7a265978ef7b95ee9442b9c973fed8725614e5",
"pose": [
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
"timestamp": 5952.367895976,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-005.jpg",
"sha256": "39b239d1ae5bcdee639be9c7c8fa12bb0d68b138a5117675692099ae39818bc4",
"pose": [
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
"timestamp": 5952.97157313,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-006.jpg",
"sha256": "b56b5cf970372c01f8330395657c8075574eddc86bc95d934ade71f49e9d0812",
"pose": [
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
"timestamp": 5953.571101641,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-007.jpg",
"sha256": "9f23e770759df4aa52f83a60bc732f0504ac586340cf7392d5a7c15a683ca440",
"pose": [
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
"timestamp": 5954.10555852,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-008.jpg",
"sha256": "8c999d21222c60499b4252765d829c1f1dd9117533c8764cb8429f2970b88154",
"pose": [
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
"timestamp": 5954.771720951,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-009.jpg",
"sha256": "20cf285113cfc8f35528886f8d00f12852519e7cf5412df2e53bd930ca345a09",
"pose": [
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
"timestamp": 5955.238043895,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-000.jpg",
"sha256": "62e691fefa7546bc37f968b645c3f78beb61659c036431195c6c4aa73a7ebc95",
"pose": [
2.5770259600030454,
0.026893765826585092,
-0.18487122111098842
],
"timestamp": 5957.577579919,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-001.jpg",
"sha256": "d51266da4aff1d8985275cab591b0d60c57583a91cb51bce81d32a3f415c66e8",
"pose": [
2.672921942757962,
0.002181452314393484,
-0.1798808411325532
],
"timestamp": 5958.307836798,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-002.jpg",
"sha256": "ff3218d2438779c5edb6414ed790c651afac16b30905ad477658ed35cc64d6be",
"pose": [
2.7727920460250983,
0.0015713715349374713,
0.0021154167209314068
],
"timestamp": 5959.177119909,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-003.jpg",
"sha256": "aff75c06661d398c9dc66e78d1f6ca7f9695019a661123f3fec632968a88179d",
"pose": [
2.866364080363207,
0.006063952915443815,
0.0755821452620089
],
"timestamp": 5959.776211925,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-004.jpg",
"sha256": "6b658d78e0bb8c01a1ed2e198ffeb93dc9eaffe745b68f2c1ecc4a12897915f2",
"pose": [
2.901994053874543,
0.013523352188166804,
0.08504062342941543
],
"timestamp": 5960.177537736,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-005.jpg",
"sha256": "c2356ddfe45cd19c89ee08abba7955f9f981508abdd53cf31f1b173beb058c94",
"pose": [
2.917292722615392,
0.014907332966162423,
0.06696675257330842
],
"timestamp": 5960.511325918,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-006.jpg",
"sha256": "2b8c0612fd9bb95d69edb2e3674a35ad9d7c2b2c6f82914ec9fb4aeb3b47bc91",
"pose": [
2.988692013766345,
0.022195776019219737,
0.06940359748846481
],
"timestamp": 5961.17945846,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-007.jpg",
"sha256": "e935566844c021c25b01dd05b7d038476512612b2171c1a15918257c42719d1d",
"pose": [
3.079076461658849,
0.027794674431075972,
0.08297848606516921
],
"timestamp": 5961.780117982,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-008.jpg",
"sha256": "06faa012eb6bb2b20d34a8fb759f24ac84a42b74f9fd34d3ed72c99067f0db6e",
"pose": [
3.1540280971212495,
0.04316157857154446,
0.12217718943148759
],
"timestamp": 5962.444301694,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-009.jpg",
"sha256": "040df580967d2f303b879df7d92a97c73b01c7dbf6ebfc970ccfcbb015a76a53",
"pose": [
3.2109467291177256,
0.050660950840768715,
0.15105286082637148
],
"timestamp": 5962.979235901,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-000.jpg",
"sha256": "ff9bfba59e8524ae2790e552525952220ae06fc8365d05ea727b65a9df291c96",
"pose": [
3.1986880475987625,
0.04874360323107929,
-0.06824009356862248
],
"timestamp": 5964.781133089,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-001.jpg",
"sha256": "ec715981223331997905ff2c4cfb6ec73c4bf5d8bb3264ae169f5bbd59745fe1",
"pose": [
3.269997026318161,
0.047161209520439895,
-0.06065230351517803
],
"timestamp": 5965.314742742,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-002.jpg",
"sha256": "1266dee15a875d63b35b28c5dd2f9212b8733c691e03003b604464df6e9fe03f",
"pose": [
3.3338211479808786,
0.05062971146167561,
0.06519077148228947
],
"timestamp": 5965.983209758,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-003.jpg",
"sha256": "dc1160da6aec0b8bc70b608a027b75f0525de4d7354dee6a371e835036e87b9e",
"pose": [
3.4061937120249772,
0.058950633587690815,
0.1633329486762638
],
"timestamp": 5966.916478225,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-004.jpg",
"sha256": "8b3cdb8c8f54b3b31ff9b332e3e1a35a4fd89f52f625d9e2bc72283c28a2cd1b",
"pose": [
3.471767714948841,
0.08568338731971847,
0.18747759951452414
],
"timestamp": 5967.583429224,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-005.jpg",
"sha256": "549b266f6397915c40f89c9632090fcd92c5a0bd810881be26981d7dd5022fe0",
"pose": [
3.54730698431577,
0.09896044199264753,
0.20671931447160222
],
"timestamp": 5968.252847087,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-006.jpg",
"sha256": "cfc30e4eb6f840c4921034cf9f378c4c873a733213b75d37de1b353270822f81",
"pose": [
3.6268589519970713,
0.12368777861251146,
0.19083599733716872
],
"timestamp": 5968.917748198,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-007.jpg",
"sha256": "f8ad8626ddcfe9dcf7d2b8f479155a43a0948da2fec333f2a05823d56d97cd55",
"pose": [
3.7199537250327257,
0.13865533305554,
0.20147834532783904
],
"timestamp": 5969.519273571,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-008.jpg",
"sha256": "d50e079dfb58d4302c9bdb3d9aea59f1ba82d68fbe9287f7973c9410f9e242d1",
"pose": [
3.7935857497215286,
0.161393175257887,
0.19686855906854817
],
"timestamp": 5970.120732223,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-009.jpg",
"sha256": "fcb9edb8ed0bf5f288ab687b82dc8257594ddb6e8619d36e8b2017a72bfd330d",
"pose": [
3.8547336138152675,
0.1727155037231316,
0.21574632122931137
],
"timestamp": 5970.656699902,
"observation_id": 60
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-000.jpg",
"sha256": "b11241761c5a950e4da3cbc5d8a08673158c41a5cbaeaa1279038915cab1112f",
"pose": [
3.9131479894480714,
0.18803205180754068,
0.22694086087710907
],
"timestamp": 5972.257445402,
"observation_id": 61
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-001.jpg",
"sha256": "83ba98b0e13ed2aca9616ace776b64ac4d1574c74938bfba85f7c539d112d1c5",
"pose": [
3.989382244115096,
0.20196523119561038,
0.24940585842928886
],
"timestamp": 5972.922926051,
"observation_id": 62
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-002.jpg",
"sha256": "008d4ad82768443c7f4d7e624087a8623036bbda59572c97c86db774ef386a3f",
"pose": [
4.054785757241524,
0.2232401387473415,
0.24444817885612657
],
"timestamp": 5973.522513923,
"observation_id": 63
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-003.jpg",
"sha256": "588bc4d3b93a08940703a930ff1fbb1859f3d0036df02709a7d3ea2ba47bf3c9",
"pose": [
4.064706240590785,
0.22921717663514496,
0.11784310761193373
],
"timestamp": 5974.6565869,
"observation_id": 64
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-004.jpg",
"sha256": "d1eb552d7b2def2bdd540b1eec105ea69e66f07bf03d0efb95c0692e2d02daa1",
"pose": [
4.0805466315310674,
0.23539931255406077,
-0.012934639483433319
],
"timestamp": 5975.862923608,
"observation_id": 65
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-005.jpg",
"sha256": "417ad904225a2980e78710775bf1f899a9bd4021b9ad795010f245349bb90914",
"pose": [
4.0974711004833395,
0.23648583190461459,
-0.1017598135957205
],
"timestamp": 5976.726930487,
"observation_id": 66
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-006.jpg",
"sha256": "ab21ffa6d77a27c42fd25a57931cd1cca00ed3501e9b89714136de54ade0e8a6",
"pose": [
4.1227345587430095,
0.23726061482155214,
-0.15660907176837702
],
"timestamp": 5977.12644008,
"observation_id": 67
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-007.jpg",
"sha256": "150c3e6064a0f7cbfa148a6fb4a8c94de0eb1c36b89caa4e4e3a7319ffa2aa4a",
"pose": [
4.1504796261482895,
0.23536312887559152,
-0.17729896708660453
],
"timestamp": 5977.461354506,
"observation_id": 68
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-008.jpg",
"sha256": "f5f00732f286d99823e939d21f4ac7913c3b88dd0bb957302c372e5879b75349",
"pose": [
4.183963481812956,
0.2287775916040442,
-0.17259795859165725
],
"timestamp": 5977.862142476,
"observation_id": 69
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-009.jpg",
"sha256": "26aa768d7ee136fd3feb9adb4828c5e51680148aa18b4ad927f8fc17e64570c1",
"pose": [
4.1837593560038995,
0.22754812174777528,
-0.1619587863796963
],
"timestamp": 5977.994948126,
"observation_id": 70
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-000.jpg",
"sha256": "88c11c24e46e93097a6beac942a53b22962e3dfab411d45790f91e03d2993344",
"pose": [
4.184250306690479,
0.23446809449356731,
-0.40294662542460813
],
"timestamp": 5980.128858112,
"observation_id": 71
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-001.jpg",
"sha256": "1c1e560e74b83074d0d7ed17f29fb9d172db398dd281acd88b3c70a08988cc32",
"pose": [
4.269146512359827,
0.18958255737327834,
-0.39024996306631415
],
"timestamp": 5980.798087392,
"observation_id": 72
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-002.jpg",
"sha256": "927576d4e856f61142b34c29ff35be5946b9dea0495b8669bce60bc9b1468879",
"pose": [
4.36763283198688,
0.16766236648221122,
-0.19408268565701725
],
"timestamp": 5981.598228215,
"observation_id": 73
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-003.jpg",
"sha256": "5c36686fc416817e88d99cba34ac15c2134d9d110de75a3e4bad84061205638d",
"pose": [
4.457821981485028,
0.15414003017950506,
-0.11440333479208453
],
"timestamp": 5982.198039646,
"observation_id": 74
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-004.jpg",
"sha256": "279ae024c8162560f1eb83772ca5cff6ad9d43aee5035a3074a2c835c69c4fb2",
"pose": [
4.495703722468802,
0.15475314674311091,
-0.10538776010632356
],
"timestamp": 5982.599445395,
"observation_id": 75
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-005.jpg",
"sha256": "d63413d1482fbe8e314d74cc91c205094f140d429795722e469907216b5378e2",
"pose": [
4.511973091602849,
0.15470575545707455,
-0.13287455174880283
],
"timestamp": 5982.998462109,
"observation_id": 76
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-006.jpg",
"sha256": "8437ddf4267b98db119c7cb9d36b1b773d8fed6a26ead6555cfbd865415b5259",
"pose": [
4.584914939511009,
0.14637320505435625,
-0.13011822980896648
],
"timestamp": 5983.667935909,
"observation_id": 77
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-007.jpg",
"sha256": "3374a5b6a668631c9654df888804f8eec8660dcb2ede13e7229382f259f01bfd",
"pose": [
4.672779217048012,
0.13860099537751847,
-0.12564510266853235
],
"timestamp": 5984.268335135,
"observation_id": 78
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-008.jpg",
"sha256": "b682c88ca41b4b257e11a2805831f3a94682ef3a4d99b985d3c3cc2082fcced9",
"pose": [
4.750165853546807,
0.13516923579949225,
-0.10170766519349873
],
"timestamp": 5985.004138142,
"observation_id": 79
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-009.jpg",
"sha256": "b7c0ba59e3879865eed6bcd9d7281628f2dcfd69956dac25423edcd2d363e470",
"pose": [
4.81067256029322,
0.12983096602917144,
-0.09763700864105428
],
"timestamp": 5985.537262755,
"observation_id": 80
}
],
"time_resampled_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69,
70,
71,
72,
73,
74,
75,
76,
77,
78,
79,
80
],
"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": 2.4020065810000233,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
2,
3,
8,
9,
14,
15,
20,
21,
26,
27,
32,
33,
38,
39,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69,
70,
71,
72,
73,
74,
75,
76,
77,
78,
79
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
2,
3,
8,
9,
14,
15,
20,
21,
26,
27,
32,
33,
38,
39,
44,
45
],
"tensor": "processed/segment1.pt",
"shape": [
16,
3,
256,
448
]
},
{
"indices": [
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69,
70,
71,
72,
73,
74,
75,
76,
77
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
78,
79
],
"tensor": "processed/segment3.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:<19.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><19.1 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|><|vision_end|><17.6 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|><|vision_end|><16.1 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|><|vision_end|><14.6 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|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
16,
24,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
24,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<19.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><19.1 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|><|vision_end|><17.6 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|><|vision_end|><16.1 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|><|vision_end|><14.6 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|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
1081
],
"attention_mask": [
1,
1081
],
"pixel_values_videos": [
1,
11648,
1536
],
"video_grid_thw": [
4,
3
],
"_original_video_grid_thw": [
4,
3
],
"_post_vit_pool_factors": [
4
],
"position_ids": [
1,
3,
1081
],
"mm_token_type_ids": [
1,
1081
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000000/input-000.jpg",
"sha256": "f9b9c982e2bceb8e7b6194732eb5e9fdb257aa73ab65ec8332ea9a210ec2a233",
"pose": [
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
"timestamp": 5928.679329889,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-000.jpg",
"sha256": "f37f1cb6bee19b3196115d979faedf33f7404c297a84d4ee1384e19a5075d652",
"pose": [
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
"timestamp": 5931.08133647,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-001.jpg",
"sha256": "44f656bf76e4bce73dfbcf58c5385033bcf9cee703ed9b0e3079de3bf426d64b",
"pose": [
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
"timestamp": 5931.746903714,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-002.jpg",
"sha256": "1faf308b1ccd457702c91cbbc7ac731bc50ded53bf72e44cd37981b0f0cfe1ad",
"pose": [
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
"timestamp": 5932.549996054,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-007.jpg",
"sha256": "b61a3a12fe8fa5265e90066b5ce410c6c996a9b364968444586b205f5e805897",
"pose": [
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
"timestamp": 5935.286499096,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000001/input-008.jpg",
"sha256": "ebe9220823600559ce1482a594a818f95d248f78f3640052603362e4e60b87ac",
"pose": [
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
"timestamp": 5935.883984086,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-003.jpg",
"sha256": "8f9daf7116062defaeea2d137befe9ecee05c945a8c8f670ad4798659d405d51",
"pose": [
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
"timestamp": 5938.955933154,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-004.jpg",
"sha256": "9384301476813624cee1a6272228f26d90f9f74f18041c20cb3cded5103db030",
"pose": [
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
"timestamp": 5939.691742176,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000002/input-009.jpg",
"sha256": "6f43edf0e4bd8847e5b4c45d517534b10700223791bfa0a51144cd9176462dd2",
"pose": [
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
"timestamp": 5942.894281752,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-000.jpg",
"sha256": "d39d3af6df2aeb5d74e8a7df679961513bba6b95b884e880fb97e29f0258977d",
"pose": [
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
"timestamp": 5943.759622306,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-005.jpg",
"sha256": "274348dfe896bea5d8ed31b4e29e7b37a5374eafd0839387e8a482c7f1ce545d",
"pose": [
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
"timestamp": 5946.295871383,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000003/input-006.jpg",
"sha256": "102f00e6304978607c8569b58a51c17f89a3688f154b49c55e4b5f0f1abf3d7c",
"pose": [
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
"timestamp": 5946.963119064,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-002.jpg",
"sha256": "685aa2b537611f7c96fdd8f1ba0eeaef8a885cd5cbb9ae94d36331402a4e1984",
"pose": [
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
"timestamp": 5951.235404298,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-003.jpg",
"sha256": "c1924dcbe1dadd3ac658423639e59a06e9f521b938fd34b889574cb9437beea0",
"pose": [
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
"timestamp": 5951.771401386,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-008.jpg",
"sha256": "8c999d21222c60499b4252765d829c1f1dd9117533c8764cb8429f2970b88154",
"pose": [
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
"timestamp": 5954.771720951,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000004/input-009.jpg",
"sha256": "20cf285113cfc8f35528886f8d00f12852519e7cf5412df2e53bd930ca345a09",
"pose": [
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
"timestamp": 5955.238043895,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-004.jpg",
"sha256": "6b658d78e0bb8c01a1ed2e198ffeb93dc9eaffe745b68f2c1ecc4a12897915f2",
"pose": [
2.901994053874543,
0.013523352188166804,
0.08504062342941543
],
"timestamp": 5960.177537736,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-005.jpg",
"sha256": "c2356ddfe45cd19c89ee08abba7955f9f981508abdd53cf31f1b173beb058c94",
"pose": [
2.917292722615392,
0.014907332966162423,
0.06696675257330842
],
"timestamp": 5960.511325918,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-006.jpg",
"sha256": "2b8c0612fd9bb95d69edb2e3674a35ad9d7c2b2c6f82914ec9fb4aeb3b47bc91",
"pose": [
2.988692013766345,
0.022195776019219737,
0.06940359748846481
],
"timestamp": 5961.17945846,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-007.jpg",
"sha256": "e935566844c021c25b01dd05b7d038476512612b2171c1a15918257c42719d1d",
"pose": [
3.079076461658849,
0.027794674431075972,
0.08297848606516921
],
"timestamp": 5961.780117982,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-008.jpg",
"sha256": "06faa012eb6bb2b20d34a8fb759f24ac84a42b74f9fd34d3ed72c99067f0db6e",
"pose": [
3.1540280971212495,
0.04316157857154446,
0.12217718943148759
],
"timestamp": 5962.444301694,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000005/input-009.jpg",
"sha256": "040df580967d2f303b879df7d92a97c73b01c7dbf6ebfc970ccfcbb015a76a53",
"pose": [
3.2109467291177256,
0.050660950840768715,
0.15105286082637148
],
"timestamp": 5962.979235901,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-000.jpg",
"sha256": "ff9bfba59e8524ae2790e552525952220ae06fc8365d05ea727b65a9df291c96",
"pose": [
3.1986880475987625,
0.04874360323107929,
-0.06824009356862248
],
"timestamp": 5964.781133089,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-001.jpg",
"sha256": "ec715981223331997905ff2c4cfb6ec73c4bf5d8bb3264ae169f5bbd59745fe1",
"pose": [
3.269997026318161,
0.047161209520439895,
-0.06065230351517803
],
"timestamp": 5965.314742742,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-002.jpg",
"sha256": "1266dee15a875d63b35b28c5dd2f9212b8733c691e03003b604464df6e9fe03f",
"pose": [
3.3338211479808786,
0.05062971146167561,
0.06519077148228947
],
"timestamp": 5965.983209758,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-003.jpg",
"sha256": "dc1160da6aec0b8bc70b608a027b75f0525de4d7354dee6a371e835036e87b9e",
"pose": [
3.4061937120249772,
0.058950633587690815,
0.1633329486762638
],
"timestamp": 5966.916478225,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-004.jpg",
"sha256": "8b3cdb8c8f54b3b31ff9b332e3e1a35a4fd89f52f625d9e2bc72283c28a2cd1b",
"pose": [
3.471767714948841,
0.08568338731971847,
0.18747759951452414
],
"timestamp": 5967.583429224,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-005.jpg",
"sha256": "549b266f6397915c40f89c9632090fcd92c5a0bd810881be26981d7dd5022fe0",
"pose": [
3.54730698431577,
0.09896044199264753,
0.20671931447160222
],
"timestamp": 5968.252847087,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-006.jpg",
"sha256": "cfc30e4eb6f840c4921034cf9f378c4c873a733213b75d37de1b353270822f81",
"pose": [
3.6268589519970713,
0.12368777861251146,
0.19083599733716872
],
"timestamp": 5968.917748198,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-007.jpg",
"sha256": "f8ad8626ddcfe9dcf7d2b8f479155a43a0948da2fec333f2a05823d56d97cd55",
"pose": [
3.7199537250327257,
0.13865533305554,
0.20147834532783904
],
"timestamp": 5969.519273571,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-008.jpg",
"sha256": "d50e079dfb58d4302c9bdb3d9aea59f1ba82d68fbe9287f7973c9410f9e242d1",
"pose": [
3.7935857497215286,
0.161393175257887,
0.19686855906854817
],
"timestamp": 5970.120732223,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000006/input-009.jpg",
"sha256": "fcb9edb8ed0bf5f288ab687b82dc8257594ddb6e8619d36e8b2017a72bfd330d",
"pose": [
3.8547336138152675,
0.1727155037231316,
0.21574632122931137
],
"timestamp": 5970.656699902,
"observation_id": 60
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-000.jpg",
"sha256": "b11241761c5a950e4da3cbc5d8a08673158c41a5cbaeaa1279038915cab1112f",
"pose": [
3.9131479894480714,
0.18803205180754068,
0.22694086087710907
],
"timestamp": 5972.257445402,
"observation_id": 61
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-001.jpg",
"sha256": "83ba98b0e13ed2aca9616ace776b64ac4d1574c74938bfba85f7c539d112d1c5",
"pose": [
3.989382244115096,
0.20196523119561038,
0.24940585842928886
],
"timestamp": 5972.922926051,
"observation_id": 62
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-002.jpg",
"sha256": "008d4ad82768443c7f4d7e624087a8623036bbda59572c97c86db774ef386a3f",
"pose": [
4.054785757241524,
0.2232401387473415,
0.24444817885612657
],
"timestamp": 5973.522513923,
"observation_id": 63
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-003.jpg",
"sha256": "588bc4d3b93a08940703a930ff1fbb1859f3d0036df02709a7d3ea2ba47bf3c9",
"pose": [
4.064706240590785,
0.22921717663514496,
0.11784310761193373
],
"timestamp": 5974.6565869,
"observation_id": 64
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-004.jpg",
"sha256": "d1eb552d7b2def2bdd540b1eec105ea69e66f07bf03d0efb95c0692e2d02daa1",
"pose": [
4.0805466315310674,
0.23539931255406077,
-0.012934639483433319
],
"timestamp": 5975.862923608,
"observation_id": 65
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-005.jpg",
"sha256": "417ad904225a2980e78710775bf1f899a9bd4021b9ad795010f245349bb90914",
"pose": [
4.0974711004833395,
0.23648583190461459,
-0.1017598135957205
],
"timestamp": 5976.726930487,
"observation_id": 66
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-006.jpg",
"sha256": "ab21ffa6d77a27c42fd25a57931cd1cca00ed3501e9b89714136de54ade0e8a6",
"pose": [
4.1227345587430095,
0.23726061482155214,
-0.15660907176837702
],
"timestamp": 5977.12644008,
"observation_id": 67
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-007.jpg",
"sha256": "150c3e6064a0f7cbfa148a6fb4a8c94de0eb1c36b89caa4e4e3a7319ffa2aa4a",
"pose": [
4.1504796261482895,
0.23536312887559152,
-0.17729896708660453
],
"timestamp": 5977.461354506,
"observation_id": 68
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-008.jpg",
"sha256": "f5f00732f286d99823e939d21f4ac7913c3b88dd0bb957302c372e5879b75349",
"pose": [
4.183963481812956,
0.2287775916040442,
-0.17259795859165725
],
"timestamp": 5977.862142476,
"observation_id": 69
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000007/input-009.jpg",
"sha256": "26aa768d7ee136fd3feb9adb4828c5e51680148aa18b4ad927f8fc17e64570c1",
"pose": [
4.1837593560038995,
0.22754812174777528,
-0.1619587863796963
],
"timestamp": 5977.994948126,
"observation_id": 70
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-000.jpg",
"sha256": "88c11c24e46e93097a6beac942a53b22962e3dfab411d45790f91e03d2993344",
"pose": [
4.184250306690479,
0.23446809449356731,
-0.40294662542460813
],
"timestamp": 5980.128858112,
"observation_id": 71
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-001.jpg",
"sha256": "1c1e560e74b83074d0d7ed17f29fb9d172db398dd281acd88b3c70a08988cc32",
"pose": [
4.269146512359827,
0.18958255737327834,
-0.39024996306631415
],
"timestamp": 5980.798087392,
"observation_id": 72
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-002.jpg",
"sha256": "927576d4e856f61142b34c29ff35be5946b9dea0495b8669bce60bc9b1468879",
"pose": [
4.36763283198688,
0.16766236648221122,
-0.19408268565701725
],
"timestamp": 5981.598228215,
"observation_id": 73
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-003.jpg",
"sha256": "5c36686fc416817e88d99cba34ac15c2134d9d110de75a3e4bad84061205638d",
"pose": [
4.457821981485028,
0.15414003017950506,
-0.11440333479208453
],
"timestamp": 5982.198039646,
"observation_id": 74
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-004.jpg",
"sha256": "279ae024c8162560f1eb83772ca5cff6ad9d43aee5035a3074a2c835c69c4fb2",
"pose": [
4.495703722468802,
0.15475314674311091,
-0.10538776010632356
],
"timestamp": 5982.599445395,
"observation_id": 75
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-005.jpg",
"sha256": "d63413d1482fbe8e314d74cc91c205094f140d429795722e469907216b5378e2",
"pose": [
4.511973091602849,
0.15470575545707455,
-0.13287455174880283
],
"timestamp": 5982.998462109,
"observation_id": 76
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-006.jpg",
"sha256": "8437ddf4267b98db119c7cb9d36b1b773d8fed6a26ead6555cfbd865415b5259",
"pose": [
4.584914939511009,
0.14637320505435625,
-0.13011822980896648
],
"timestamp": 5983.667935909,
"observation_id": 77
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-007.jpg",
"sha256": "3374a5b6a668631c9654df888804f8eec8660dcb2ede13e7229382f259f01bfd",
"pose": [
4.672779217048012,
0.13860099537751847,
-0.12564510266853235
],
"timestamp": 5984.268335135,
"observation_id": 78
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-008.jpg",
"sha256": "b682c88ca41b4b257e11a2805831f3a94682ef3a4d99b985d3c3cc2082fcced9",
"pose": [
4.750165853546807,
0.13516923579949225,
-0.10170766519349873
],
"timestamp": 5985.004138142,
"observation_id": 79
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204515-1d22f2ef/steps/000008/input-009.jpg",
"sha256": "b7c0ba59e3879865eed6bcd9d7281628f2dcfd69956dac25423edcd2d363e470",
"pose": [
4.81067256029322,
0.12983096602917144,
-0.09763700864105428
],
"timestamp": 5985.537262755,
"observation_id": 80
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<19.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><19.1 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|><|vision_end|><17.6 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|><|vision_end|><16.1 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|><|vision_end|><14.6 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|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": [
[
1.1057370556954993e-06,
-2.779579517664388e-07,
-1.564628860251105e-06
],
[
-4.158075737249294e-06,
-6.555302122737339e-07,
-1.5167472611210542e-07
],
[
2.0026637732982662e-06,
-5.5780931945078066e-08,
-3.640693648776505e-07
],
[
2.3109758278615063e-06,
-1.93396898677979e-08,
-5.338911250873934e-07
],
[
3.110289701854458e-06,
1.9380326217307234e-07,
2.811655306800276e-06
],
[
-2.687392480261698e-06,
4.356670235714982e-07,
3.0368299093197497e-06
],
[
1.225121881434925e-06,
-1.7461063099519016e-07,
2.407426791251055e-06
],
[
2.6491064381781412e-06,
2.953296461288192e-07,
5.29699264006922e-07
],
[
-6.176481537825758e-06,
2.7345882551383315e-07,
2.106122337863781e-06
],
[
-4.2761602224182544e-06,
-6.055945095717565e-07,
-1.3887190561945317e-05
]
],
"stop": true,
"plan": null,
"raw": "<apos_1299><opos_514><act_l0_6><act_l1_122><act_l2_174><|im_end|>",
"waypoints": [
[
1.1057370556954993e-06,
-2.779579517664388e-07,
-1.564628860251105e-06
],
[
-3.0523397072101943e-06,
-9.334816581940686e-07,
-1.7163035863632103e-06
],
[
-1.0496760296518914e-06,
-9.892660273180809e-07,
-2.080372951240861e-06
],
[
1.2612997579708463e-06,
-1.0086105248774402e-06,
-2.6142640763282543e-06
],
[
4.371589966467582e-06,
-8.148153938236646e-07,
1.9739123047202156e-07
],
[
1.6841974002090865e-06,
-3.791489007198834e-07,
3.234221139791771e-06
],
[
2.909319846366998e-06,
-5.537555693990726e-07,
5.641647931042826e-06
],
[
5.558424618357094e-06,
-2.584109779490973e-07,
6.171347195049748e-06
],
[
-6.180586069604033e-07,
1.500973034751496e-08,
8.277469532913528e-06
],
[
-4.894213816442061e-06,
-5.906201749894535e-07,
-5.609721029031789e-06
]
],
"pointing": {
"apos": 1299,
"opos": 514
},
"rvq_codes": [
6,
122,
174
],
"model_input": {
"history_indices": [
0,
1,
2,
3,
8,
9,
14,
15,
20,
21,
26,
27,
32,
33,
38,
39,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69,
70,
71,
72,
73,
74,
75,
76,
77,
78,
79
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
2,
3,
8,
9,
14,
15,
20,
21,
26,
27,
32,
33,
38,
39,
44,
45
],
"tensor": "processed/segment1.pt",
"shape": [
16,
3,
256,
448
]
},
{
"indices": [
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69,
70,
71,
72,
73,
74,
75,
76,
77
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
78,
79
],
"tensor": "processed/segment3.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:<19.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><19.1 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|><|vision_end|><17.6 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|><|vision_end|><16.1 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|><|vision_end|><14.6 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|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
16,
24,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
24,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
311,
279,
85044,
5662,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<19.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><19.1 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|><|vision_end|><17.6 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|><|vision_end|><16.1 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|><|vision_end|><14.6 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|><|vision_end|><13.1 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|><|vision_end|><11.6 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|><|vision_end|><10.1 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|><|vision_end|><8.6 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|><|vision_end|><8.1 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|><|vision_end|><7.6 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|><|vision_end|><7.1 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|><|vision_end|><6.6 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|><|vision_end|><6.1 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|><|vision_end|><5.6 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|><|vision_end|><5.1 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|><|vision_end|><4.6 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|><|vision_end|><4.1 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|><|vision_end|><3.6 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|><|vision_end|><3.1 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|><|vision_end|><2.6 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|><|vision_end|><2.1 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|><|vision_end|><1.6 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|><|vision_end|><1.1 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|><|vision_end|><0.6 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|><|vision_end|><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 to the vending machine</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,
1081
],
"attention_mask": [
1,
1081
],
"pixel_values_videos": [
1,
11648,
1536
],
"video_grid_thw": [
4,
3
],
"_original_video_grid_thw": [
4,
3
],
"_post_vit_pool_factors": [
4
],
"position_ids": [
1,
3,
1081
],
"mm_token_type_ids": [
1,
1081
]
}
},
"history_fps": 4
},
"native_latency_ms": 263.42029590159655
},
"response": {
"type": "step",
"actions": [
[
1.1057370556954993e-06,
-2.779579517664388e-07,
-1.564628860251105e-06
],
[
-4.158075737249294e-06,
-6.555302122737339e-07,
-1.5167472611210542e-07
],
[
2.0026637732982662e-06,
-5.5780931945078066e-08,
-3.640693648776505e-07
],
[
2.3109758278615063e-06,
-1.93396898677979e-08,
-5.338911250873934e-07
],
[
3.110289701854458e-06,
1.9380326217307234e-07,
2.811655306800276e-06
],
[
-2.687392480261698e-06,
4.356670235714982e-07,
3.0368299093197497e-06
],
[
1.225121881434925e-06,
-1.7461063099519016e-07,
2.407426791251055e-06
],
[
2.6491064381781412e-06,
2.953296461288192e-07,
5.29699264006922e-07
],
[
-6.176481537825758e-06,
2.7345882551383315e-07,
2.106122337863781e-06
],
[
-4.2761602224182544e-06,
-6.055945095717565e-07,
-1.3887190561945317e-05
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"stop": true,
"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": "current_terminal",
"episode_id": "episode-20261018-204515-1d22f2ef",
"inference_id": 8,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.5140832890756428,
"peak_memory_bytes": 9649085440,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.5189845496788621
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
1.1057370556954993e-06,
-2.779579517664388e-07,
-1.564628860251105e-06
],
[
-3.052339707210194e-06,
-9.334816581940687e-07,
-1.7163035863632103e-06
],
[
-1.0496760296518906e-06,
-9.892660273180809e-07,
-2.080372951240861e-06
],
[
1.261299757970847e-06,
-1.0086105248774402e-06,
-2.6142640763282543e-06
],
[
4.371589966467583e-06,
-8.148153938236646e-07,
1.9739123047202156e-07
],
[
1.6841974002090875e-06,
-3.7914890071988333e-07,
3.2342211397917713e-06
],
[
2.909319846366999e-06,
-5.537555693990726e-07,
5.641647931042826e-06
],
[
5.558424618357095e-06,
-2.5841097794909723e-07,
6.171347195049748e-06
],
[
-6.18058606960402e-07,
1.5009730347515013e-08,
8.277469532913528e-06
],
[
-4.89421381644206e-06,
-5.906201749894534e-07,
-5.60972102903179e-06
]
],
"observed_poses": [
[
0.00016135534455002744,
5.703529041894376e-05,
-0.00026912326110606344
],
[
0.0198343408295394,
0.015381360328637569,
-0.23955431593651655
],
[
0.11948099821494892,
-0.016598028260336975,
-0.2525552239880593
],
[
0.23377777971672298,
-0.036427775526849976,
-0.2074909889332228
],
[
0.3173175560205793,
-0.05050968222971722,
-0.20386949527884246
],
[
0.34503211337172074,
-0.056392988643801406,
-0.16601037956511044
],
[
0.39190158901940314,
-0.056402264098330934,
-0.14467747046794965
],
[
0.45899470744288917,
-0.06511851037737784,
-0.09791600817005275
],
[
0.5474925008332393,
-0.06337771943753392,
-0.03574929000625593
],
[
0.6303695798133053,
-0.06685054332061269,
-0.014265215106135098
],
[
0.6926725334901638,
-0.06255226507716688,
-0.01515225596524772
],
[
0.7221125391463038,
-0.06198841936292848,
-0.023222105931157255
],
[
0.7758197419711204,
-0.06762404953982193,
-0.04037789393596735
],
[
0.8523346234232794,
-0.06474279035201475,
-0.050544419596016965
],
[
0.945467711793471,
-0.07149483435403842,
-0.03621150557871822
],
[
1.0409544168823208,
-0.06417788789979206,
-0.014974532694022713
],
[
1.1362086093545898,
-0.06445945437815492,
-0.006466516023982294
],
[
1.2323143302164112,
-0.055327622948489585,
-0.020917302911574343
],
[
1.3029197497047398,
-0.06015446673442293,
-0.008126805735891638
],
[
1.3712406420650105,
-0.05455202070028464,
-0.0031268265491997127
],
[
1.474964346361015,
-0.05604313344154166,
0.016411847457310724
],
[
1.513195282706139,
-0.05551212830808905,
0.010689919510245893
],
[
1.5759291675514189,
-0.05096177423336268,
0.015652815739679138
],
[
1.6037478170795187,
-0.05037961977356353,
0.020274899348849296
],
[
1.62523432970305,
-0.04786213190010036,
0.020264767260928185
],
[
1.6874294216986514,
-0.0472035476480972,
0.0778622674727143
],
[
1.7647638937934353,
-0.03470601208384094,
0.09510851510793561
],
[
1.867853623054604,
-0.026644875621971043,
0.09237404323380227
],
[
1.9280680690724448,
-0.01879271457342735,
0.05947650578181607
],
[
1.9245024963380066,
-0.019008415823976388,
0.0736040220777503
],
[
1.9188839161545794,
-0.017255887647581014,
0.08556446246030713
],
[
1.9226947588911374,
-0.004964050441297774,
-0.1652719856963527
],
[
1.9929040057016945,
-0.021515809392630203,
-0.15010866151663027
],
[
2.0545401116581252,
-0.014294672651397056,
-0.01593593806987892
],
[
2.12571606895279,
-0.012105598010621055,
0.05889560815238016
],
[
2.1977650005911906,
-0.0012847086152465437,
0.060371623558515
],
[
2.2717479972808823,
0.001337381355420053,
0.05930509821003538
],
[
2.348876055245971,
0.011780666671749485,
0.024943244922211782
],
[
2.4367057988197534,
0.014794447404423039,
0.0223663051352343
],
[
2.5157083745186366,
0.021028018988985986,
0.049163186485555066
],
[
2.571790768769444,
0.024485353726349857,
0.05274575408364557
],
[
2.5770259600030454,
0.026893765826585092,
-0.18487122111098842
],
[
2.672921942757962,
0.002181452314393484,
-0.1798808411325532
],
[
2.7727920460250983,
0.0015713715349374713,
0.0021154167209314068
],
[
2.866364080363207,
0.006063952915443815,
0.0755821452620089
],
[
2.901994053874543,
0.013523352188166804,
0.08504062342941543
],
[
2.917292722615392,
0.014907332966162423,
0.06696675257330842
],
[
2.988692013766345,
0.022195776019219737,
0.06940359748846481
],
[
3.079076461658849,
0.027794674431075972,
0.08297848606516921
],
[
3.1540280971212495,
0.04316157857154446,
0.12217718943148759
],
[
3.2109467291177256,
0.050660950840768715,
0.15105286082637148
],
[
3.1986880475987625,
0.04874360323107929,
-0.06824009356862248
],
[
3.269997026318161,
0.047161209520439895,
-0.06065230351517803
],
[
3.3338211479808786,
0.05062971146167561,
0.06519077148228947
],
[
3.4061937120249772,
0.058950633587690815,
0.1633329486762638
],
[
3.471767714948841,
0.08568338731971847,
0.18747759951452414
],
[
3.54730698431577,
0.09896044199264753,
0.20671931447160222
],
[
3.6268589519970713,
0.12368777861251146,
0.19083599733716872
],
[
3.7199537250327257,
0.13865533305554,
0.20147834532783904
],
[
3.7935857497215286,
0.161393175257887,
0.19686855906854817
],
[
3.8547336138152675,
0.1727155037231316,
0.21574632122931137
],
[
3.9131479894480714,
0.18803205180754068,
0.22694086087710907
],
[
3.989382244115096,
0.20196523119561038,
0.24940585842928886
],
[
4.054785757241524,
0.2232401387473415,
0.24444817885612657
],
[
4.064706240590785,
0.22921717663514496,
0.11784310761193373
],
[
4.0805466315310674,
0.23539931255406077,
-0.012934639483433319
],
[
4.0974711004833395,
0.23648583190461459,
-0.1017598135957205
],
[
4.1227345587430095,
0.23726061482155214,
-0.15660907176837702
],
[
4.1504796261482895,
0.23536312887559152,
-0.17729896708660453
],
[
4.183963481812956,
0.2287775916040442,
-0.17259795859165725
],
[
4.1837593560038995,
0.22754812174777528,
-0.1619587863796963
],
[
4.184250306690479,
0.23446809449356731,
-0.40294662542460813
],
[
4.269146512359827,
0.18958255737327834,
-0.39024996306631415
],
[
4.36763283198688,
0.16766236648221122,
-0.19408268565701725
],
[
4.457821981485028,
0.15414003017950506,
-0.11440333479208453
],
[
4.495703722468802,
0.15475314674311091,
-0.10538776010632356
],
[
4.511973091602849,
0.15470575545707455,
-0.13287455174880283
],
[
4.584914939511009,
0.14637320505435625,
-0.13011822980896648
],
[
4.672779217048012,
0.13860099537751847,
-0.12564510266853235
],
[
4.750165853546807,
0.13516923579949225,
-0.10170766519349873
],
[
4.81067256029322,
0.12983096602917144,
-0.09763700864105428
]
]
}