{
"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": 1792327629.4134204,
"units": "m_m_rad",
"robot_execution_tested": false,
"ended_at": 1792327682.5681806,
"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-20261018-204709-345165c8/steps/000000/input-000.jpg",
"sha256": "0a35505900bcdc8288523d7889935389cff6c3f6776ffbdf893035c921d0ef30",
"pose": [
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
"timestamp": 6042.375119657,
"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-20261018-204709-345165c8/steps/000000/input-000.jpg",
"sha256": "0a35505900bcdc8288523d7889935389cff6c3f6776ffbdf893035c921d0ef30",
"pose": [
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
"timestamp": 6042.375119657,
"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": [
[
0.13571420311927795,
-0.015322919003665447,
-0.11218564212322235
],
[
0.12051393665802579,
-0.0014004384117640555,
-0.00045739859342575073
],
[
0.11519273063372279,
-0.0034869527171684216,
0.03505234420299531
],
[
0.125483463317226,
0.0015885482859163448,
0.025988150388002396
],
[
0.12514034913213648,
0.0005581694652720898,
-0.012895997613668444
],
[
0.12693986791489112,
0.0006470752604260535,
-0.03801107406616211
],
[
0.1354857797869551,
0.0025059982888892274,
0.0017873644828796387
],
[
0.14149906492287087,
0.0014501200538511831,
0.017154932022094727
],
[
0.14808792051511954,
0.0006535174363751454,
0.057378547266125686
],
[
0.13764102070996015,
0.00028843321992299414,
0.014133457094430923
]
],
"stop": false,
"plan": null,
"raw": "<apos_987><opos_603><act_l0_131><act_l1_219><act_l2_67><|im_end|>",
"waypoints": [
[
0.13571420311927795,
-0.015322919003665447,
-0.11218564212322235
],
[
0.25531378388404846,
-0.030206145718693733,
-0.1126430407166481
],
[
0.3693845272064209,
-0.0466192364692688,
-0.0775906965136528
],
[
0.4946135878562927,
-0.05476205050945282,
-0.051602546125650406
],
[
0.6196161508560181,
-0.060659319162368774,
-0.06449854373931885
],
[
0.7463337779045105,
-0.06819535046815872,
-0.10250961780548096
],
[
0.8813647627830505,
-0.07956679165363312,
-0.10072225332260132
],
[
1.0222924947738647,
-0.09235204011201859,
-0.08356732130050659
],
[
1.169918179512024,
-0.10406171530485153,
-0.026188774034380913
],
[
1.307519555091858,
-0.10737761855125427,
-0.01205531693994999
]
],
"pointing": {
"apos": 987,
"opos": 603
},
"rvq_codes": [
131,
219,
67
],
"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": 195.438991766423
},
"response": {
"type": "step",
"actions": [
[
0.13571420311927795,
-0.015322919003665447,
-0.11218564212322235
],
[
0.12051393665802579,
-0.0014004384117640555,
-0.00045739859342575073
],
[
0.11519273063372279,
-0.0034869527171684216,
0.03505234420299531
],
[
0.125483463317226,
0.0015885482859163448,
0.025988150388002396
],
[
0.12514034913213648,
0.0005581694652720898,
-0.012895997613668444
],
[
0.12693986791489112,
0.0006470752604260535,
-0.03801107406616211
],
[
0.1354857797869551,
0.0025059982888892274,
0.0017873644828796387
],
[
0.14149906492287087,
0.0014501200538511831,
0.017154932022094727
],
[
0.14808792051511954,
0.0006535174363751454,
0.057378547266125686
],
[
0.13764102070996015,
0.00028843321992299414,
0.014133457094430923
],
[
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-20261018-204709-345165c8",
"inference_id": 0,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.21218966273590922,
"peak_memory_bytes": 9155978752,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.21404439769685268
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.13571420311927795,
-0.015322919003665447,
-0.11218564212322235
],
[
0.25531378388404846,
-0.030206145718693737,
-0.11264304071664812
],
[
0.36938452720642084,
-0.0466192364692688,
-0.0775906965136528
],
[
0.4946135878562926,
-0.05476205050945282,
-0.051602546125650406
],
[
0.619616150856018,
-0.060659319162368774,
-0.06449854373931885
],
[
0.7463337779045103,
-0.06819535046815872,
-0.10250961780548096
],
[
0.8813647627830503,
-0.07956679165363312,
-0.10072225332260132
],
[
1.0222924947738645,
-0.0923520401120186,
-0.08356732130050659
],
[
1.1699181795120237,
-0.10406171530485155,
-0.02618877403438091
],
[
1.3075195550918577,
-0.10737761855125429,
-0.012055316939949986
]
],
"observed_poses": [
[
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
]
]
}
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-20261018-204709-345165c8/steps/000000/input-000.jpg",
"sha256": "0a35505900bcdc8288523d7889935389cff6c3f6776ffbdf893035c921d0ef30",
"pose": [
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
"timestamp": 6042.375119657,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-002.jpg",
"sha256": "a993f710bff3a2ac44a61e3c31bd2c8fdc6b715ba358f743aafca9c961f91408",
"pose": [
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
"timestamp": 6045.661557669,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-003.jpg",
"sha256": "e09366d2259e9eabe57a55de8c789e28b340af8326e797d8fa79f5e391699628",
"pose": [
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
"timestamp": 6046.395007801,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-004.jpg",
"sha256": "c01b72a2bf4ec339619d2763912e568fac45fd829a9f8301923ab8478d00a927",
"pose": [
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
"timestamp": 6047.063579332,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-005.jpg",
"sha256": "db22854ed6940773fdccf9cbab5f370022fc90e92c6fbfe75ecf179938512006",
"pose": [
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
"timestamp": 6047.596610246,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-006.jpg",
"sha256": "27d31d63d5b5af3354bc32c810df4609449f43b9a5e8f927698e707823aeb3a6",
"pose": [
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
"timestamp": 6048.332975863,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-007.jpg",
"sha256": "10dd064a72b584d22fda1f53ff52203799b92acf0610b35743f1d0db68f3bf1b",
"pose": [
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
"timestamp": 6049.002041618,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-008.jpg",
"sha256": "6f6224f6afe9286ab424f38aa78310b1147dcf32aeae26ee0aa96a92b548a7ac",
"pose": [
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
"timestamp": 6049.733467366,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"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": 1.8883161200001268,
"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-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-002.jpg",
"sha256": "a993f710bff3a2ac44a61e3c31bd2c8fdc6b715ba358f743aafca9c961f91408",
"pose": [
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
"timestamp": 6045.661557669,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-003.jpg",
"sha256": "e09366d2259e9eabe57a55de8c789e28b340af8326e797d8fa79f5e391699628",
"pose": [
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
"timestamp": 6046.395007801,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-004.jpg",
"sha256": "c01b72a2bf4ec339619d2763912e568fac45fd829a9f8301923ab8478d00a927",
"pose": [
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
"timestamp": 6047.063579332,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-005.jpg",
"sha256": "db22854ed6940773fdccf9cbab5f370022fc90e92c6fbfe75ecf179938512006",
"pose": [
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
"timestamp": 6047.596610246,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-006.jpg",
"sha256": "27d31d63d5b5af3354bc32c810df4609449f43b9a5e8f927698e707823aeb3a6",
"pose": [
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
"timestamp": 6048.332975863,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-007.jpg",
"sha256": "10dd064a72b584d22fda1f53ff52203799b92acf0610b35743f1d0db68f3bf1b",
"pose": [
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
"timestamp": 6049.002041618,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-008.jpg",
"sha256": "6f6224f6afe9286ab424f38aa78310b1147dcf32aeae26ee0aa96a92b548a7ac",
"pose": [
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
"timestamp": 6049.733467366,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"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": [
[
0.15651127696037292,
-0.009598824195563793,
-0.07395974546670914
],
[
0.13027661141985095,
-0.002191399077874129,
-0.07366283982992174
],
[
0.10236573832110611,
-0.0005062476842397894,
-0.016219347715377808
],
[
0.0764189491815146,
0.0035933267984348417,
0.02215026319026947
],
[
0.08373585947248527,
0.004745655640619761,
0.06822856515645981
],
[
0.09198133519057373,
0.0032211893696665506,
0.045283349230885506
],
[
0.1296824845340914,
0.0027072384352062736,
0.006406700238585472
],
[
0.14575784202520675,
0.0012862554170255777,
-0.0029197465628385544
],
[
0.14683138956867411,
0.000473258865174268,
0.00554012693464756
],
[
0.1376429603747871,
0.00016139639880403782,
0.00337521918118
]
],
"stop": false,
"plan": null,
"raw": "<apos_985><opos_652><act_l0_131><act_l1_85><act_l2_28><|im_end|>",
"waypoints": [
[
0.15651127696037292,
-0.009598824195563793,
-0.07395974546670914
],
[
0.28626981377601624,
-0.02141067571938038,
-0.14762258529663086
],
[
0.387447714805603,
-0.036968085914850235,
-0.16384193301200867
],
[
0.46342936158180237,
-0.04588756710290909,
-0.1416916698217392
],
[
0.5469962358474731,
-0.05301448330283165,
-0.07346310466527939
],
[
0.638965904712677,
-0.05655314028263092,
-0.028179755434393883
],
[
0.7686731815338135,
-0.05750091373920441,
-0.02177305519580841
],
[
0.914424479007721,
-0.059388305991888046,
-0.024692801758646965
],
[
1.061222791671753,
-0.06254050135612488,
-0.019152674823999405
],
[
1.1988435983657837,
-0.06501520425081253,
-0.015777455642819405
]
],
"pointing": {
"apos": 985,
"opos": 652
},
"rvq_codes": [
131,
85,
28
],
"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": 205.35063231363893
},
"response": {
"type": "step",
"actions": [
[
0.15651127696037292,
-0.009598824195563793,
-0.07395974546670914
],
[
0.13027661141985095,
-0.002191399077874129,
-0.07366283982992174
],
[
0.10236573832110611,
-0.0005062476842397894,
-0.016219347715377808
],
[
0.0764189491815146,
0.0035933267984348417,
0.02215026319026947
],
[
0.08373585947248527,
0.004745655640619761,
0.06822856515645981
],
[
0.09198133519057373,
0.0032211893696665506,
0.045283349230885506
],
[
0.1296824845340914,
0.0027072384352062736,
0.006406700238585472
],
[
0.14575784202520675,
0.0012862554170255777,
-0.0029197465628385544
],
[
0.14683138956867411,
0.000473258865174268,
0.00554012693464756
],
[
0.1376429603747871,
0.00016139639880403782,
0.00337521918118
],
[
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-20261018-204709-345165c8",
"inference_id": 1,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.24774733278900385,
"peak_memory_bytes": 9208145408,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.2509896857663989
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.15651127696037292,
-0.009598824195563793,
-0.07395974546670914
],
[
0.28626981377601624,
-0.021410675719380375,
-0.14762258529663086
],
[
0.387447714805603,
-0.036968085914850235,
-0.16384193301200867
],
[
0.46342936158180237,
-0.04588756710290909,
-0.1416916698217392
],
[
0.5469962358474731,
-0.05301448330283165,
-0.07346310466527939
],
[
0.638965904712677,
-0.05655314028263092,
-0.028179755434393883
],
[
0.7686731815338135,
-0.05750091373920441,
-0.02177305519580841
],
[
0.914424479007721,
-0.059388305991888046,
-0.02469280175864697
],
[
1.061222791671753,
-0.06254050135612488,
-0.01915267482399941
],
[
1.1988435983657837,
-0.06501520425081253,
-0.015777455642819405
]
],
"observed_poses": [
[
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
[
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
[
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
[
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
[
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
[
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
[
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
[
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
[
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
[
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
[
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
]
]
}
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-20261018-204709-345165c8/steps/000000/input-000.jpg",
"sha256": "0a35505900bcdc8288523d7889935389cff6c3f6776ffbdf893035c921d0ef30",
"pose": [
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
"timestamp": 6042.375119657,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-002.jpg",
"sha256": "a993f710bff3a2ac44a61e3c31bd2c8fdc6b715ba358f743aafca9c961f91408",
"pose": [
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
"timestamp": 6045.661557669,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-003.jpg",
"sha256": "e09366d2259e9eabe57a55de8c789e28b340af8326e797d8fa79f5e391699628",
"pose": [
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
"timestamp": 6046.395007801,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-004.jpg",
"sha256": "c01b72a2bf4ec339619d2763912e568fac45fd829a9f8301923ab8478d00a927",
"pose": [
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
"timestamp": 6047.063579332,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-005.jpg",
"sha256": "db22854ed6940773fdccf9cbab5f370022fc90e92c6fbfe75ecf179938512006",
"pose": [
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
"timestamp": 6047.596610246,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-006.jpg",
"sha256": "27d31d63d5b5af3354bc32c810df4609449f43b9a5e8f927698e707823aeb3a6",
"pose": [
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
"timestamp": 6048.332975863,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-007.jpg",
"sha256": "10dd064a72b584d22fda1f53ff52203799b92acf0610b35743f1d0db68f3bf1b",
"pose": [
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
"timestamp": 6049.002041618,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-008.jpg",
"sha256": "6f6224f6afe9286ab424f38aa78310b1147dcf32aeae26ee0aa96a92b548a7ac",
"pose": [
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
"timestamp": 6049.733467366,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-000.jpg",
"sha256": "dda4dd8e491f8b6b523ba12677fd8747994520f387e75a40530eeb32f79c5892",
"pose": [
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
"timestamp": 6051.468788107,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-001.jpg",
"sha256": "3af9d8fad94e54ed92094cb68080b212f90c960d156d10db6b0d6826eb46461c",
"pose": [
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
"timestamp": 6052.071391467,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-002.jpg",
"sha256": "e533d400b818bd2ea087ef80d970e0af0f8d1a3a1b83efa1b25bcd98aae136b5",
"pose": [
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
"timestamp": 6052.601488849,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-003.jpg",
"sha256": "9dad0f7974d5e7d7058da3af0986f8ba54802e4803a2c742e5cf86d4bf6bfbe7",
"pose": [
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
"timestamp": 6053.069268254,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-004.jpg",
"sha256": "bd497dd1005617195d972ea51b556dc2cbfcef9dffa6e0043b54e4041b988af5",
"pose": [
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
"timestamp": 6053.605105562,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-005.jpg",
"sha256": "e5b8290a89a8d6eff49c0a12097c26863ff2953fdc2ff209e749989e739b65ab",
"pose": [
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
"timestamp": 6054.139260384,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-006.jpg",
"sha256": "a86a4b45ed0872754fc9b3dcd7116eeae182580a7307bcbb8e642331b407ef0b",
"pose": [
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
"timestamp": 6054.737259918,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-007.jpg",
"sha256": "99f0d667754f1e1e5d1b96f430b6df02c4a53af7fab2a8899254b832f8a398d8",
"pose": [
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
"timestamp": 6055.471598014,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-008.jpg",
"sha256": "7f185a418db16ac73329099b3fcb1e1cf84bd0ae1d0e74e66767995551182a9a",
"pose": [
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
"timestamp": 6056.139462483,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-009.jpg",
"sha256": "14eea9d12aacd8c0c383d85d15aefff5ddedb5e937bbd1de094bb446f482d5df",
"pose": [
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
"timestamp": 6056.874144398,
"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": 1.8883161200001268,
"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-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-002.jpg",
"sha256": "a993f710bff3a2ac44a61e3c31bd2c8fdc6b715ba358f743aafca9c961f91408",
"pose": [
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
"timestamp": 6045.661557669,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-003.jpg",
"sha256": "e09366d2259e9eabe57a55de8c789e28b340af8326e797d8fa79f5e391699628",
"pose": [
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
"timestamp": 6046.395007801,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-004.jpg",
"sha256": "c01b72a2bf4ec339619d2763912e568fac45fd829a9f8301923ab8478d00a927",
"pose": [
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
"timestamp": 6047.063579332,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-005.jpg",
"sha256": "db22854ed6940773fdccf9cbab5f370022fc90e92c6fbfe75ecf179938512006",
"pose": [
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
"timestamp": 6047.596610246,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-006.jpg",
"sha256": "27d31d63d5b5af3354bc32c810df4609449f43b9a5e8f927698e707823aeb3a6",
"pose": [
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
"timestamp": 6048.332975863,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-007.jpg",
"sha256": "10dd064a72b584d22fda1f53ff52203799b92acf0610b35743f1d0db68f3bf1b",
"pose": [
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
"timestamp": 6049.002041618,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-008.jpg",
"sha256": "6f6224f6afe9286ab424f38aa78310b1147dcf32aeae26ee0aa96a92b548a7ac",
"pose": [
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
"timestamp": 6049.733467366,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-000.jpg",
"sha256": "dda4dd8e491f8b6b523ba12677fd8747994520f387e75a40530eeb32f79c5892",
"pose": [
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
"timestamp": 6051.468788107,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-001.jpg",
"sha256": "3af9d8fad94e54ed92094cb68080b212f90c960d156d10db6b0d6826eb46461c",
"pose": [
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
"timestamp": 6052.071391467,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-002.jpg",
"sha256": "e533d400b818bd2ea087ef80d970e0af0f8d1a3a1b83efa1b25bcd98aae136b5",
"pose": [
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
"timestamp": 6052.601488849,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-003.jpg",
"sha256": "9dad0f7974d5e7d7058da3af0986f8ba54802e4803a2c742e5cf86d4bf6bfbe7",
"pose": [
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
"timestamp": 6053.069268254,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-004.jpg",
"sha256": "bd497dd1005617195d972ea51b556dc2cbfcef9dffa6e0043b54e4041b988af5",
"pose": [
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
"timestamp": 6053.605105562,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-005.jpg",
"sha256": "e5b8290a89a8d6eff49c0a12097c26863ff2953fdc2ff209e749989e739b65ab",
"pose": [
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
"timestamp": 6054.139260384,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-006.jpg",
"sha256": "a86a4b45ed0872754fc9b3dcd7116eeae182580a7307bcbb8e642331b407ef0b",
"pose": [
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
"timestamp": 6054.737259918,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-007.jpg",
"sha256": "99f0d667754f1e1e5d1b96f430b6df02c4a53af7fab2a8899254b832f8a398d8",
"pose": [
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
"timestamp": 6055.471598014,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-008.jpg",
"sha256": "7f185a418db16ac73329099b3fcb1e1cf84bd0ae1d0e74e66767995551182a9a",
"pose": [
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
"timestamp": 6056.139462483,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-009.jpg",
"sha256": "14eea9d12aacd8c0c383d85d15aefff5ddedb5e937bbd1de094bb446f482d5df",
"pose": [
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
"timestamp": 6056.874144398,
"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": [
[
0.13133203983306885,
-0.0008453939226455986,
-0.015136527828872204
],
[
0.0974141016174047,
0.0013696091888716708,
0.013054083101451397
],
[
0.08890356174877019,
-0.0006590180938986608,
0.0015965815400704741
],
[
0.10452729748469433,
8.086827470460929e-05,
0.000294634111924097
],
[
0.11224804623320994,
-5.69771847345275e-05,
0.005450893339002505
],
[
0.1153847877739005,
-0.00015036905977691668,
0.008726367261260748
],
[
0.11755825120289662,
0.00021853248526640628,
-0.0003751730546355248
],
[
0.12502701792463797,
-3.94484545718889e-05,
0.0004719402641057968
],
[
0.1307716559298382,
-0.0006189704173982565,
-0.0017557051032781599
],
[
0.13340409704656053,
-0.0008640718881421634,
-0.0074197929352521905
]
],
"stop": false,
"plan": null,
"raw": "<apos_1033><opos_795><act_l0_39><act_l1_74><act_l2_33><|im_end|>",
"waypoints": [
[
0.13133203983306885,
-0.0008453939226455986,
-0.015136527828872204
],
[
0.22875571250915527,
-0.0009503965848125517,
-0.002082444727420807
],
[
0.3176577091217041,
-0.0017945498693734407,
-0.00048586318735033274
],
[
0.4221850335597992,
-0.0017644675681367517,
-0.0001912290754262358
],
[
0.5344330668449402,
-0.001842909841798246,
0.005259664263576269
],
[
0.6498170495033264,
-0.0013863943750038743,
0.013986031524837017
],
[
0.7673607468605042,
0.0004762365424539894,
0.013610858470201492
],
[
0.892376720905304,
0.0021384642459452152,
0.014082798734307289
],
[
1.0231441259384155,
0.0033611252438277006,
0.012327093631029129
],
[
1.1565487384796143,
0.004141562152653933,
0.004907300695776939
]
],
"pointing": {
"apos": 1033,
"opos": 795
},
"rvq_codes": [
39,
74,
33
],
"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": 214.1472091898322
},
"response": {
"type": "step",
"actions": [
[
0.13133203983306885,
-0.0008453939226455986,
-0.015136527828872204
],
[
0.0974141016174047,
0.0013696091888716708,
0.013054083101451397
],
[
0.08890356174877019,
-0.0006590180938986608,
0.0015965815400704741
],
[
0.10452729748469433,
8.086827470460929e-05,
0.000294634111924097
],
[
0.11224804623320994,
-5.69771847345275e-05,
0.005450893339002505
],
[
0.1153847877739005,
-0.00015036905977691668,
0.008726367261260748
],
[
0.11755825120289662,
0.00021853248526640628,
-0.0003751730546355248
],
[
0.12502701792463797,
-3.94484545718889e-05,
0.0004719402641057968
],
[
0.1307716559298382,
-0.0006189704173982565,
-0.0017557051032781599
],
[
0.13340409704656053,
-0.0008640718881421634,
-0.0074197929352521905
],
[
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-20261018-204709-345165c8",
"inference_id": 2,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.28814723482355475,
"peak_memory_bytes": 9314054144,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.2917195684276521
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.13133203983306885,
-0.0008453939226455986,
-0.015136527828872204
],
[
0.22875571250915527,
-0.000950396584812552,
-0.0020824447274208065
],
[
0.3176577091217041,
-0.001794549869373441,
-0.00048586318735033236
],
[
0.42218503355979914,
-0.0017644675681367519,
-0.00019122907542623533
],
[
0.5344330668449402,
-0.001842909841798246,
0.00525966426357627
],
[
0.6498170495033264,
-0.0013863943750038743,
0.013986031524837015
],
[
0.7673607468605042,
0.00047623654245398933,
0.01361085847020149
],
[
0.892376720905304,
0.002138464245945215,
0.014082798734307287
],
[
1.0231441259384155,
0.0033611252438277,
0.012327093631029127
],
[
1.1565487384796143,
0.004141562152653933,
0.004907300695776937
]
],
"observed_poses": [
[
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
[
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
[
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
[
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
[
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
[
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
[
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
[
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
[
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
[
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
[
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
[
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
[
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
[
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
[
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
[
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
[
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
[
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
[
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
[
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
[
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
]
]
}
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-20261018-204709-345165c8/steps/000000/input-000.jpg",
"sha256": "0a35505900bcdc8288523d7889935389cff6c3f6776ffbdf893035c921d0ef30",
"pose": [
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
"timestamp": 6042.375119657,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-002.jpg",
"sha256": "a993f710bff3a2ac44a61e3c31bd2c8fdc6b715ba358f743aafca9c961f91408",
"pose": [
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
"timestamp": 6045.661557669,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-003.jpg",
"sha256": "e09366d2259e9eabe57a55de8c789e28b340af8326e797d8fa79f5e391699628",
"pose": [
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
"timestamp": 6046.395007801,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-004.jpg",
"sha256": "c01b72a2bf4ec339619d2763912e568fac45fd829a9f8301923ab8478d00a927",
"pose": [
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
"timestamp": 6047.063579332,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-005.jpg",
"sha256": "db22854ed6940773fdccf9cbab5f370022fc90e92c6fbfe75ecf179938512006",
"pose": [
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
"timestamp": 6047.596610246,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-006.jpg",
"sha256": "27d31d63d5b5af3354bc32c810df4609449f43b9a5e8f927698e707823aeb3a6",
"pose": [
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
"timestamp": 6048.332975863,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-007.jpg",
"sha256": "10dd064a72b584d22fda1f53ff52203799b92acf0610b35743f1d0db68f3bf1b",
"pose": [
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
"timestamp": 6049.002041618,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-008.jpg",
"sha256": "6f6224f6afe9286ab424f38aa78310b1147dcf32aeae26ee0aa96a92b548a7ac",
"pose": [
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
"timestamp": 6049.733467366,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-000.jpg",
"sha256": "dda4dd8e491f8b6b523ba12677fd8747994520f387e75a40530eeb32f79c5892",
"pose": [
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
"timestamp": 6051.468788107,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-001.jpg",
"sha256": "3af9d8fad94e54ed92094cb68080b212f90c960d156d10db6b0d6826eb46461c",
"pose": [
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
"timestamp": 6052.071391467,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-002.jpg",
"sha256": "e533d400b818bd2ea087ef80d970e0af0f8d1a3a1b83efa1b25bcd98aae136b5",
"pose": [
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
"timestamp": 6052.601488849,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-003.jpg",
"sha256": "9dad0f7974d5e7d7058da3af0986f8ba54802e4803a2c742e5cf86d4bf6bfbe7",
"pose": [
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
"timestamp": 6053.069268254,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-004.jpg",
"sha256": "bd497dd1005617195d972ea51b556dc2cbfcef9dffa6e0043b54e4041b988af5",
"pose": [
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
"timestamp": 6053.605105562,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-005.jpg",
"sha256": "e5b8290a89a8d6eff49c0a12097c26863ff2953fdc2ff209e749989e739b65ab",
"pose": [
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
"timestamp": 6054.139260384,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-006.jpg",
"sha256": "a86a4b45ed0872754fc9b3dcd7116eeae182580a7307bcbb8e642331b407ef0b",
"pose": [
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
"timestamp": 6054.737259918,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-007.jpg",
"sha256": "99f0d667754f1e1e5d1b96f430b6df02c4a53af7fab2a8899254b832f8a398d8",
"pose": [
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
"timestamp": 6055.471598014,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-008.jpg",
"sha256": "7f185a418db16ac73329099b3fcb1e1cf84bd0ae1d0e74e66767995551182a9a",
"pose": [
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
"timestamp": 6056.139462483,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-009.jpg",
"sha256": "14eea9d12aacd8c0c383d85d15aefff5ddedb5e937bbd1de094bb446f482d5df",
"pose": [
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
"timestamp": 6056.874144398,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-000.jpg",
"sha256": "34d27f45ece04447a7b1cc4311c2888f0ac65731bf0e3a51cdf247512f121261",
"pose": [
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
"timestamp": 6057.807649416,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-001.jpg",
"sha256": "c6469c0a8f8bd6c4055ed242ff02dc0ba83aee2241889c0cd1d773b9c0489767",
"pose": [
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
"timestamp": 6058.341547974,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-002.jpg",
"sha256": "c7c1770b9f6979b1194c9c0c3e0255fbc51936578ce8837b3ca331ac617cead9",
"pose": [
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
"timestamp": 6059.012165586,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-003.jpg",
"sha256": "1184020b85a5e844ae8a1bf5413142e8d407c4c11b9eb90812512bb859e24eca",
"pose": [
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
"timestamp": 6059.877591518,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-004.jpg",
"sha256": "f2bc729e127eba548cceb2bbd6995d3f9f83568803398ddb7b644a754b26c122",
"pose": [
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
"timestamp": 6060.411071599,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-005.jpg",
"sha256": "d40d6bced09430cb6d395569d2af2467040a655c3f96b61e0060e2278c95a346",
"pose": [
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
"timestamp": 6060.947078288,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-006.jpg",
"sha256": "2771e11a82e50f375f2e89c249c212dc0d82a01234ed00f200b307902edaa88a",
"pose": [
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
"timestamp": 6061.544604911,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-007.jpg",
"sha256": "accebd5fa61aa76e5b785895bd2d90976fbf598b2eea5ba28bb2709dc8a022e3",
"pose": [
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
"timestamp": 6062.21123654,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-008.jpg",
"sha256": "663c8c425227a25cd1e3e85d193190edcfc0f2270764e8711b17bc25720e5946",
"pose": [
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
"timestamp": 6062.882077936,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-009.jpg",
"sha256": "f86b69b1076c2ba35c7a1b42b725a661c43b2438bd73ff5cb82fae513c3cb44d",
"pose": [
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
"timestamp": 6063.480914136,
"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,
29,
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": 1.8883161200001268,
"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,
30
],
"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,
28,
28
],
"tensor": "processed/segment0.pt",
"shape": [
30,
3,
256,
448
]
},
{
"indices": [
29,
30
],
"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:<7.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.5 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
20,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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:<7.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.5 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|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,
733
],
"attention_mask": [
1,
733
],
"pixel_values_videos": [
1,
7168,
1536
],
"video_grid_thw": [
2,
3
],
"_original_video_grid_thw": [
2,
3
],
"_post_vit_pool_factors": [
2
],
"position_ids": [
1,
3,
733
],
"mm_token_type_ids": [
1,
733
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000000/input-000.jpg",
"sha256": "0a35505900bcdc8288523d7889935389cff6c3f6776ffbdf893035c921d0ef30",
"pose": [
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
"timestamp": 6042.375119657,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-002.jpg",
"sha256": "a993f710bff3a2ac44a61e3c31bd2c8fdc6b715ba358f743aafca9c961f91408",
"pose": [
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
"timestamp": 6045.661557669,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-003.jpg",
"sha256": "e09366d2259e9eabe57a55de8c789e28b340af8326e797d8fa79f5e391699628",
"pose": [
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
"timestamp": 6046.395007801,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-004.jpg",
"sha256": "c01b72a2bf4ec339619d2763912e568fac45fd829a9f8301923ab8478d00a927",
"pose": [
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
"timestamp": 6047.063579332,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-005.jpg",
"sha256": "db22854ed6940773fdccf9cbab5f370022fc90e92c6fbfe75ecf179938512006",
"pose": [
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
"timestamp": 6047.596610246,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-006.jpg",
"sha256": "27d31d63d5b5af3354bc32c810df4609449f43b9a5e8f927698e707823aeb3a6",
"pose": [
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
"timestamp": 6048.332975863,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-007.jpg",
"sha256": "10dd064a72b584d22fda1f53ff52203799b92acf0610b35743f1d0db68f3bf1b",
"pose": [
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
"timestamp": 6049.002041618,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-008.jpg",
"sha256": "6f6224f6afe9286ab424f38aa78310b1147dcf32aeae26ee0aa96a92b548a7ac",
"pose": [
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
"timestamp": 6049.733467366,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-000.jpg",
"sha256": "dda4dd8e491f8b6b523ba12677fd8747994520f387e75a40530eeb32f79c5892",
"pose": [
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
"timestamp": 6051.468788107,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-001.jpg",
"sha256": "3af9d8fad94e54ed92094cb68080b212f90c960d156d10db6b0d6826eb46461c",
"pose": [
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
"timestamp": 6052.071391467,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-002.jpg",
"sha256": "e533d400b818bd2ea087ef80d970e0af0f8d1a3a1b83efa1b25bcd98aae136b5",
"pose": [
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
"timestamp": 6052.601488849,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-003.jpg",
"sha256": "9dad0f7974d5e7d7058da3af0986f8ba54802e4803a2c742e5cf86d4bf6bfbe7",
"pose": [
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
"timestamp": 6053.069268254,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-004.jpg",
"sha256": "bd497dd1005617195d972ea51b556dc2cbfcef9dffa6e0043b54e4041b988af5",
"pose": [
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
"timestamp": 6053.605105562,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-005.jpg",
"sha256": "e5b8290a89a8d6eff49c0a12097c26863ff2953fdc2ff209e749989e739b65ab",
"pose": [
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
"timestamp": 6054.139260384,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-006.jpg",
"sha256": "a86a4b45ed0872754fc9b3dcd7116eeae182580a7307bcbb8e642331b407ef0b",
"pose": [
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
"timestamp": 6054.737259918,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-007.jpg",
"sha256": "99f0d667754f1e1e5d1b96f430b6df02c4a53af7fab2a8899254b832f8a398d8",
"pose": [
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
"timestamp": 6055.471598014,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-008.jpg",
"sha256": "7f185a418db16ac73329099b3fcb1e1cf84bd0ae1d0e74e66767995551182a9a",
"pose": [
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
"timestamp": 6056.139462483,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-009.jpg",
"sha256": "14eea9d12aacd8c0c383d85d15aefff5ddedb5e937bbd1de094bb446f482d5df",
"pose": [
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
"timestamp": 6056.874144398,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-000.jpg",
"sha256": "34d27f45ece04447a7b1cc4311c2888f0ac65731bf0e3a51cdf247512f121261",
"pose": [
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
"timestamp": 6057.807649416,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-001.jpg",
"sha256": "c6469c0a8f8bd6c4055ed242ff02dc0ba83aee2241889c0cd1d773b9c0489767",
"pose": [
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
"timestamp": 6058.341547974,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-002.jpg",
"sha256": "c7c1770b9f6979b1194c9c0c3e0255fbc51936578ce8837b3ca331ac617cead9",
"pose": [
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
"timestamp": 6059.012165586,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-003.jpg",
"sha256": "1184020b85a5e844ae8a1bf5413142e8d407c4c11b9eb90812512bb859e24eca",
"pose": [
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
"timestamp": 6059.877591518,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-004.jpg",
"sha256": "f2bc729e127eba548cceb2bbd6995d3f9f83568803398ddb7b644a754b26c122",
"pose": [
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
"timestamp": 6060.411071599,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-005.jpg",
"sha256": "d40d6bced09430cb6d395569d2af2467040a655c3f96b61e0060e2278c95a346",
"pose": [
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
"timestamp": 6060.947078288,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-006.jpg",
"sha256": "2771e11a82e50f375f2e89c249c212dc0d82a01234ed00f200b307902edaa88a",
"pose": [
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
"timestamp": 6061.544604911,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-007.jpg",
"sha256": "accebd5fa61aa76e5b785895bd2d90976fbf598b2eea5ba28bb2709dc8a022e3",
"pose": [
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
"timestamp": 6062.21123654,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-008.jpg",
"sha256": "663c8c425227a25cd1e3e85d193190edcfc0f2270764e8711b17bc25720e5946",
"pose": [
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
"timestamp": 6062.882077936,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-009.jpg",
"sha256": "f86b69b1076c2ba35c7a1b42b725a661c43b2438bd73ff5cb82fae513c3cb44d",
"pose": [
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
"timestamp": 6063.480914136,
"observation_id": 30
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<7.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.5 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|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_1035><opos_650><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": 1035,
"opos": 650
},
"rvq_codes": [
27,
47,
67
],
"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,
30
],
"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,
28,
28
],
"tensor": "processed/segment0.pt",
"shape": [
30,
3,
256,
448
]
},
{
"indices": [
29,
30
],
"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:<7.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.5 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
19,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
24,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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,
20,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
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:<7.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.4 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.9 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.5 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|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,
733
],
"attention_mask": [
1,
733
],
"pixel_values_videos": [
1,
7168,
1536
],
"video_grid_thw": [
2,
3
],
"_original_video_grid_thw": [
2,
3
],
"_post_vit_pool_factors": [
2
],
"position_ids": [
1,
3,
733
],
"mm_token_type_ids": [
1,
733
]
}
},
"history_fps": 4
},
"native_latency_ms": 231.19584191590548
},
"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-20261018-204709-345165c8",
"inference_id": 3,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.38904476910829544,
"peak_memory_bytes": 9438731264,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.39254929404705763
}
{
"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": [
[
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
[
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
[
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
[
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
[
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
[
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
[
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
[
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
[
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
[
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
[
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
[
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
[
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
[
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
[
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
[
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
[
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
[
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
[
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
[
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
[
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
[
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
[
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
[
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
[
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
[
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
[
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
[
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
[
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
[
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
[
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
]
]
}
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-20261018-204709-345165c8/steps/000000/input-000.jpg",
"sha256": "0a35505900bcdc8288523d7889935389cff6c3f6776ffbdf893035c921d0ef30",
"pose": [
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
"timestamp": 6042.375119657,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-002.jpg",
"sha256": "a993f710bff3a2ac44a61e3c31bd2c8fdc6b715ba358f743aafca9c961f91408",
"pose": [
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
"timestamp": 6045.661557669,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-003.jpg",
"sha256": "e09366d2259e9eabe57a55de8c789e28b340af8326e797d8fa79f5e391699628",
"pose": [
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
"timestamp": 6046.395007801,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-004.jpg",
"sha256": "c01b72a2bf4ec339619d2763912e568fac45fd829a9f8301923ab8478d00a927",
"pose": [
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
"timestamp": 6047.063579332,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-005.jpg",
"sha256": "db22854ed6940773fdccf9cbab5f370022fc90e92c6fbfe75ecf179938512006",
"pose": [
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
"timestamp": 6047.596610246,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-006.jpg",
"sha256": "27d31d63d5b5af3354bc32c810df4609449f43b9a5e8f927698e707823aeb3a6",
"pose": [
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
"timestamp": 6048.332975863,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-007.jpg",
"sha256": "10dd064a72b584d22fda1f53ff52203799b92acf0610b35743f1d0db68f3bf1b",
"pose": [
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
"timestamp": 6049.002041618,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-008.jpg",
"sha256": "6f6224f6afe9286ab424f38aa78310b1147dcf32aeae26ee0aa96a92b548a7ac",
"pose": [
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
"timestamp": 6049.733467366,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-000.jpg",
"sha256": "dda4dd8e491f8b6b523ba12677fd8747994520f387e75a40530eeb32f79c5892",
"pose": [
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
"timestamp": 6051.468788107,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-001.jpg",
"sha256": "3af9d8fad94e54ed92094cb68080b212f90c960d156d10db6b0d6826eb46461c",
"pose": [
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
"timestamp": 6052.071391467,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-002.jpg",
"sha256": "e533d400b818bd2ea087ef80d970e0af0f8d1a3a1b83efa1b25bcd98aae136b5",
"pose": [
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
"timestamp": 6052.601488849,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-003.jpg",
"sha256": "9dad0f7974d5e7d7058da3af0986f8ba54802e4803a2c742e5cf86d4bf6bfbe7",
"pose": [
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
"timestamp": 6053.069268254,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-004.jpg",
"sha256": "bd497dd1005617195d972ea51b556dc2cbfcef9dffa6e0043b54e4041b988af5",
"pose": [
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
"timestamp": 6053.605105562,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-005.jpg",
"sha256": "e5b8290a89a8d6eff49c0a12097c26863ff2953fdc2ff209e749989e739b65ab",
"pose": [
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
"timestamp": 6054.139260384,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-006.jpg",
"sha256": "a86a4b45ed0872754fc9b3dcd7116eeae182580a7307bcbb8e642331b407ef0b",
"pose": [
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
"timestamp": 6054.737259918,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-007.jpg",
"sha256": "99f0d667754f1e1e5d1b96f430b6df02c4a53af7fab2a8899254b832f8a398d8",
"pose": [
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
"timestamp": 6055.471598014,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-008.jpg",
"sha256": "7f185a418db16ac73329099b3fcb1e1cf84bd0ae1d0e74e66767995551182a9a",
"pose": [
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
"timestamp": 6056.139462483,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-009.jpg",
"sha256": "14eea9d12aacd8c0c383d85d15aefff5ddedb5e937bbd1de094bb446f482d5df",
"pose": [
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
"timestamp": 6056.874144398,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-000.jpg",
"sha256": "34d27f45ece04447a7b1cc4311c2888f0ac65731bf0e3a51cdf247512f121261",
"pose": [
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
"timestamp": 6057.807649416,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-001.jpg",
"sha256": "c6469c0a8f8bd6c4055ed242ff02dc0ba83aee2241889c0cd1d773b9c0489767",
"pose": [
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
"timestamp": 6058.341547974,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-002.jpg",
"sha256": "c7c1770b9f6979b1194c9c0c3e0255fbc51936578ce8837b3ca331ac617cead9",
"pose": [
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
"timestamp": 6059.012165586,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-003.jpg",
"sha256": "1184020b85a5e844ae8a1bf5413142e8d407c4c11b9eb90812512bb859e24eca",
"pose": [
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
"timestamp": 6059.877591518,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-004.jpg",
"sha256": "f2bc729e127eba548cceb2bbd6995d3f9f83568803398ddb7b644a754b26c122",
"pose": [
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
"timestamp": 6060.411071599,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-005.jpg",
"sha256": "d40d6bced09430cb6d395569d2af2467040a655c3f96b61e0060e2278c95a346",
"pose": [
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
"timestamp": 6060.947078288,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-006.jpg",
"sha256": "2771e11a82e50f375f2e89c249c212dc0d82a01234ed00f200b307902edaa88a",
"pose": [
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
"timestamp": 6061.544604911,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-007.jpg",
"sha256": "accebd5fa61aa76e5b785895bd2d90976fbf598b2eea5ba28bb2709dc8a022e3",
"pose": [
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
"timestamp": 6062.21123654,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-008.jpg",
"sha256": "663c8c425227a25cd1e3e85d193190edcfc0f2270764e8711b17bc25720e5946",
"pose": [
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
"timestamp": 6062.882077936,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-009.jpg",
"sha256": "f86b69b1076c2ba35c7a1b42b725a661c43b2438bd73ff5cb82fae513c3cb44d",
"pose": [
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
"timestamp": 6063.480914136,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-000.jpg",
"sha256": "93d65d5da6e1ce6ec1e5b459e375851613adb541def43e73f70c99fd78635068",
"pose": [
2.270241298422187,
-0.06112211506924292,
-0.24090352035749385
],
"timestamp": 6065.149390039,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-001.jpg",
"sha256": "e13be988e82db3c7c20b403be5dabcce29daece837211f8998536579618cdd4d",
"pose": [
2.368646192147315,
-0.08804302601339664,
-0.23075534939485287
],
"timestamp": 6065.948933178,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-002.jpg",
"sha256": "9d826a4da9123114d115717a3e97509f9498fc0364082adb3f9894a45d2f320a",
"pose": [
2.4589484837494138,
-0.10269031219793057,
-0.04393505992907931
],
"timestamp": 6066.683982721,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-003.jpg",
"sha256": "90095d3b4e6d8879961854f9a95b8bc1df5981f4c518050b148b502c4dd44302",
"pose": [
2.5475358144192306,
-0.09784969710269253,
0.035259272401918285
],
"timestamp": 6067.756826461,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-004.jpg",
"sha256": "ae7ab96c02753ef481de679cc45c07ae0a44049624d2e4720064e2698bee6938",
"pose": [
2.581368378410483,
-0.09504822280336422,
0.03958677200295746
],
"timestamp": 6068.353836427,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-005.jpg",
"sha256": "d9efb834f172cbcb3af2bbdf05bc81ff962bb76164c01260bba57f752dbbae06",
"pose": [
2.5968167153883104,
-0.0963093264347441,
0.027914454439458503
],
"timestamp": 6068.686607969,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-006.jpg",
"sha256": "268f369edfec07dee688e17c959b3e68e27522cf2ad050ff4db0725c015017a6",
"pose": [
2.67274884785974,
-0.08608946271051043,
0.01061967027129773
],
"timestamp": 6069.620025624,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-007.jpg",
"sha256": "204d9fd66a8383a42ab732ae81e2b95c3c82836a2d5cde8f35b28f254ca5dc16",
"pose": [
2.7608056928643685,
-0.08427653379925815,
0.034856857876613745
],
"timestamp": 6070.153283362,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-008.jpg",
"sha256": "db7fea6f531a48b2823854ebf4f9ebcce0693589842dd8891dc3e5908812c710",
"pose": [
2.8408424671291854,
-0.07439410568042981,
0.05239597861119494
],
"timestamp": 6070.754094089,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-009.jpg",
"sha256": "57585eaf580d43e79fd68b2287c22fdcfed24e20558dca6743bf6908cb89761a",
"pose": [
2.8987352156009587,
-0.0723723025946772,
0.07233754273512494
],
"timestamp": 6071.288957509,
"observation_id": 40
}
],
"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,
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": 1.8883161200001268,
"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-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-004.jpg",
"sha256": "c01b72a2bf4ec339619d2763912e568fac45fd829a9f8301923ab8478d00a927",
"pose": [
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
"timestamp": 6047.063579332,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-005.jpg",
"sha256": "db22854ed6940773fdccf9cbab5f370022fc90e92c6fbfe75ecf179938512006",
"pose": [
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
"timestamp": 6047.596610246,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-006.jpg",
"sha256": "27d31d63d5b5af3354bc32c810df4609449f43b9a5e8f927698e707823aeb3a6",
"pose": [
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
"timestamp": 6048.332975863,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-007.jpg",
"sha256": "10dd064a72b584d22fda1f53ff52203799b92acf0610b35743f1d0db68f3bf1b",
"pose": [
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
"timestamp": 6049.002041618,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-008.jpg",
"sha256": "6f6224f6afe9286ab424f38aa78310b1147dcf32aeae26ee0aa96a92b548a7ac",
"pose": [
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
"timestamp": 6049.733467366,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-000.jpg",
"sha256": "dda4dd8e491f8b6b523ba12677fd8747994520f387e75a40530eeb32f79c5892",
"pose": [
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
"timestamp": 6051.468788107,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-001.jpg",
"sha256": "3af9d8fad94e54ed92094cb68080b212f90c960d156d10db6b0d6826eb46461c",
"pose": [
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
"timestamp": 6052.071391467,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-002.jpg",
"sha256": "e533d400b818bd2ea087ef80d970e0af0f8d1a3a1b83efa1b25bcd98aae136b5",
"pose": [
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
"timestamp": 6052.601488849,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-003.jpg",
"sha256": "9dad0f7974d5e7d7058da3af0986f8ba54802e4803a2c742e5cf86d4bf6bfbe7",
"pose": [
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
"timestamp": 6053.069268254,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-004.jpg",
"sha256": "bd497dd1005617195d972ea51b556dc2cbfcef9dffa6e0043b54e4041b988af5",
"pose": [
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
"timestamp": 6053.605105562,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-005.jpg",
"sha256": "e5b8290a89a8d6eff49c0a12097c26863ff2953fdc2ff209e749989e739b65ab",
"pose": [
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
"timestamp": 6054.139260384,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-006.jpg",
"sha256": "a86a4b45ed0872754fc9b3dcd7116eeae182580a7307bcbb8e642331b407ef0b",
"pose": [
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
"timestamp": 6054.737259918,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-007.jpg",
"sha256": "99f0d667754f1e1e5d1b96f430b6df02c4a53af7fab2a8899254b832f8a398d8",
"pose": [
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
"timestamp": 6055.471598014,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-008.jpg",
"sha256": "7f185a418db16ac73329099b3fcb1e1cf84bd0ae1d0e74e66767995551182a9a",
"pose": [
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
"timestamp": 6056.139462483,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-009.jpg",
"sha256": "14eea9d12aacd8c0c383d85d15aefff5ddedb5e937bbd1de094bb446f482d5df",
"pose": [
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
"timestamp": 6056.874144398,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-000.jpg",
"sha256": "34d27f45ece04447a7b1cc4311c2888f0ac65731bf0e3a51cdf247512f121261",
"pose": [
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
"timestamp": 6057.807649416,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-001.jpg",
"sha256": "c6469c0a8f8bd6c4055ed242ff02dc0ba83aee2241889c0cd1d773b9c0489767",
"pose": [
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
"timestamp": 6058.341547974,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-002.jpg",
"sha256": "c7c1770b9f6979b1194c9c0c3e0255fbc51936578ce8837b3ca331ac617cead9",
"pose": [
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
"timestamp": 6059.012165586,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-003.jpg",
"sha256": "1184020b85a5e844ae8a1bf5413142e8d407c4c11b9eb90812512bb859e24eca",
"pose": [
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
"timestamp": 6059.877591518,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-004.jpg",
"sha256": "f2bc729e127eba548cceb2bbd6995d3f9f83568803398ddb7b644a754b26c122",
"pose": [
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
"timestamp": 6060.411071599,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-005.jpg",
"sha256": "d40d6bced09430cb6d395569d2af2467040a655c3f96b61e0060e2278c95a346",
"pose": [
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
"timestamp": 6060.947078288,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-006.jpg",
"sha256": "2771e11a82e50f375f2e89c249c212dc0d82a01234ed00f200b307902edaa88a",
"pose": [
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
"timestamp": 6061.544604911,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-007.jpg",
"sha256": "accebd5fa61aa76e5b785895bd2d90976fbf598b2eea5ba28bb2709dc8a022e3",
"pose": [
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
"timestamp": 6062.21123654,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-008.jpg",
"sha256": "663c8c425227a25cd1e3e85d193190edcfc0f2270764e8711b17bc25720e5946",
"pose": [
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
"timestamp": 6062.882077936,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-009.jpg",
"sha256": "f86b69b1076c2ba35c7a1b42b725a661c43b2438bd73ff5cb82fae513c3cb44d",
"pose": [
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
"timestamp": 6063.480914136,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-000.jpg",
"sha256": "93d65d5da6e1ce6ec1e5b459e375851613adb541def43e73f70c99fd78635068",
"pose": [
2.270241298422187,
-0.06112211506924292,
-0.24090352035749385
],
"timestamp": 6065.149390039,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-001.jpg",
"sha256": "e13be988e82db3c7c20b403be5dabcce29daece837211f8998536579618cdd4d",
"pose": [
2.368646192147315,
-0.08804302601339664,
-0.23075534939485287
],
"timestamp": 6065.948933178,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-002.jpg",
"sha256": "9d826a4da9123114d115717a3e97509f9498fc0364082adb3f9894a45d2f320a",
"pose": [
2.4589484837494138,
-0.10269031219793057,
-0.04393505992907931
],
"timestamp": 6066.683982721,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-003.jpg",
"sha256": "90095d3b4e6d8879961854f9a95b8bc1df5981f4c518050b148b502c4dd44302",
"pose": [
2.5475358144192306,
-0.09784969710269253,
0.035259272401918285
],
"timestamp": 6067.756826461,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-004.jpg",
"sha256": "ae7ab96c02753ef481de679cc45c07ae0a44049624d2e4720064e2698bee6938",
"pose": [
2.581368378410483,
-0.09504822280336422,
0.03958677200295746
],
"timestamp": 6068.353836427,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-005.jpg",
"sha256": "d9efb834f172cbcb3af2bbdf05bc81ff962bb76164c01260bba57f752dbbae06",
"pose": [
2.5968167153883104,
-0.0963093264347441,
0.027914454439458503
],
"timestamp": 6068.686607969,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-006.jpg",
"sha256": "268f369edfec07dee688e17c959b3e68e27522cf2ad050ff4db0725c015017a6",
"pose": [
2.67274884785974,
-0.08608946271051043,
0.01061967027129773
],
"timestamp": 6069.620025624,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-007.jpg",
"sha256": "204d9fd66a8383a42ab732ae81e2b95c3c82836a2d5cde8f35b28f254ca5dc16",
"pose": [
2.7608056928643685,
-0.08427653379925815,
0.034856857876613745
],
"timestamp": 6070.153283362,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-008.jpg",
"sha256": "db7fea6f531a48b2823854ebf4f9ebcce0693589842dd8891dc3e5908812c710",
"pose": [
2.8408424671291854,
-0.07439410568042981,
0.05239597861119494
],
"timestamp": 6070.754094089,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-009.jpg",
"sha256": "57585eaf580d43e79fd68b2287c22fdcfed24e20558dca6743bf6908cb89761a",
"pose": [
2.8987352156009587,
-0.0723723025946772,
0.07233754273512494
],
"timestamp": 6071.288957509,
"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": [
[
0.09155666083097458,
-0.0013299938291311264,
-0.027377266436815262
],
[
0.0998811414567543,
-0.003056910955048809,
-0.05266902968287468
],
[
0.08575530178216687,
-0.008958417343142656,
-0.09954562783241272
],
[
0.08662030592043711,
-0.00934638790502827,
-0.10127046704292297
],
[
0.14162161566975054,
-0.0006535808924523559,
0.008596092462539673
],
[
0.15219578888245788,
-0.0036226491617859374,
-0.012075066566467285
],
[
0.1463366395579233,
0.009337005796694477,
0.10993966460227966
],
[
0.1417574962998435,
0.004924610672512996,
0.1004042699933052
],
[
0.13825781771114853,
0.002356134614055993,
0.054716769605875015
],
[
0.024519866427251593,
0.00023918379279216464,
0.013292876072227955
]
],
"stop": false,
"plan": null,
"raw": "<apos_1037><opos_555><act_l0_145><act_l1_107><act_l2_31><|im_end|>",
"waypoints": [
[
0.09155666083097458,
-0.0013299938291311264,
-0.027377266436815262
],
[
0.19131669402122498,
-0.0071198903024196625,
-0.08004629611968994
],
[
0.2760810852050781,
-0.02290668897330761,
-0.17959192395210266
],
[
0.3596387207508087,
-0.04757557436823845,
-0.28086239099502563
],
[
0.49552997946739197,
-0.08745884150266647,
-0.27226629853248596
],
[
0.6411452889442444,
-0.13187576830387115,
-0.28434136509895325
],
[
0.7842252850532532,
-0.16396480798721313,
-0.17440170049667358
],
[
0.9246869087219238,
-0.18371251225471497,
-0.07399743050336838
],
[
1.0627405643463135,
-0.19158421456813812,
-0.019280660897493362
],
[
1.0872604846954346,
-0.19181780517101288,
-0.0059877848252654076
]
],
"pointing": {
"apos": 1037,
"opos": 555
},
"rvq_codes": [
145,
107,
31
],
"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": 242.68509214743972
},
"response": {
"type": "step",
"actions": [
[
0.09155666083097458,
-0.0013299938291311264,
-0.027377266436815262
],
[
0.0998811414567543,
-0.003056910955048809,
-0.05266902968287468
],
[
0.08575530178216687,
-0.008958417343142656,
-0.09954562783241272
],
[
0.08662030592043711,
-0.00934638790502827,
-0.10127046704292297
],
[
0.14162161566975054,
-0.0006535808924523559,
0.008596092462539673
],
[
0.15219578888245788,
-0.0036226491617859374,
-0.012075066566467285
],
[
0.1463366395579233,
0.009337005796694477,
0.10993966460227966
],
[
0.1417574962998435,
0.004924610672512996,
0.1004042699933052
],
[
0.13825781771114853,
0.002356134614055993,
0.054716769605875015
],
[
0.024519866427251593,
0.00023918379279216464,
0.013292876072227955
],
[
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-20261018-204709-345165c8",
"inference_id": 4,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.45947527000680566,
"peak_memory_bytes": 9505664512,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.4634297089651227
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.09155666083097458,
-0.0013299938291311264,
-0.027377266436815262
],
[
0.19131669402122495,
-0.0071198903024196625,
-0.08004629611968994
],
[
0.2760810852050781,
-0.02290668897330761,
-0.17959192395210266
],
[
0.3596387207508087,
-0.04757557436823845,
-0.2808623909950257
],
[
0.4955299794673919,
-0.08745884150266647,
-0.272266298532486
],
[
0.6411452889442443,
-0.13187576830387115,
-0.2843413650989533
],
[
0.7842252850532531,
-0.16396480798721313,
-0.1744017004966736
],
[
0.9246869087219237,
-0.18371251225471497,
-0.07399743050336839
],
[
1.0627405643463133,
-0.19158421456813812,
-0.019280660897493376
],
[
1.0872604846954343,
-0.19181780517101288,
-0.005987784825265422
]
],
"observed_poses": [
[
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
[
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
[
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
[
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
[
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
[
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
[
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
[
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
[
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
[
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
[
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
[
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
[
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
[
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
[
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
[
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
[
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
[
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
[
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
[
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
[
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
[
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
[
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
[
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
[
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
[
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
[
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
[
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
[
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
[
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
[
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
[
2.270241298422187,
-0.06112211506924292,
-0.24090352035749385
],
[
2.368646192147315,
-0.08804302601339664,
-0.23075534939485287
],
[
2.4589484837494138,
-0.10269031219793057,
-0.04393505992907931
],
[
2.5475358144192306,
-0.09784969710269253,
0.035259272401918285
],
[
2.581368378410483,
-0.09504822280336422,
0.03958677200295746
],
[
2.5968167153883104,
-0.0963093264347441,
0.027914454439458503
],
[
2.67274884785974,
-0.08608946271051043,
0.01061967027129773
],
[
2.7608056928643685,
-0.08427653379925815,
0.034856857876613745
],
[
2.8408424671291854,
-0.07439410568042981,
0.05239597861119494
],
[
2.8987352156009587,
-0.0723723025946772,
0.07233754273512494
]
]
}
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-20261018-204709-345165c8/steps/000000/input-000.jpg",
"sha256": "0a35505900bcdc8288523d7889935389cff6c3f6776ffbdf893035c921d0ef30",
"pose": [
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
"timestamp": 6042.375119657,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-002.jpg",
"sha256": "a993f710bff3a2ac44a61e3c31bd2c8fdc6b715ba358f743aafca9c961f91408",
"pose": [
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
"timestamp": 6045.661557669,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-003.jpg",
"sha256": "e09366d2259e9eabe57a55de8c789e28b340af8326e797d8fa79f5e391699628",
"pose": [
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
"timestamp": 6046.395007801,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-004.jpg",
"sha256": "c01b72a2bf4ec339619d2763912e568fac45fd829a9f8301923ab8478d00a927",
"pose": [
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
"timestamp": 6047.063579332,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-005.jpg",
"sha256": "db22854ed6940773fdccf9cbab5f370022fc90e92c6fbfe75ecf179938512006",
"pose": [
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
"timestamp": 6047.596610246,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-006.jpg",
"sha256": "27d31d63d5b5af3354bc32c810df4609449f43b9a5e8f927698e707823aeb3a6",
"pose": [
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
"timestamp": 6048.332975863,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-007.jpg",
"sha256": "10dd064a72b584d22fda1f53ff52203799b92acf0610b35743f1d0db68f3bf1b",
"pose": [
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
"timestamp": 6049.002041618,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-008.jpg",
"sha256": "6f6224f6afe9286ab424f38aa78310b1147dcf32aeae26ee0aa96a92b548a7ac",
"pose": [
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
"timestamp": 6049.733467366,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-000.jpg",
"sha256": "dda4dd8e491f8b6b523ba12677fd8747994520f387e75a40530eeb32f79c5892",
"pose": [
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
"timestamp": 6051.468788107,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-001.jpg",
"sha256": "3af9d8fad94e54ed92094cb68080b212f90c960d156d10db6b0d6826eb46461c",
"pose": [
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
"timestamp": 6052.071391467,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-002.jpg",
"sha256": "e533d400b818bd2ea087ef80d970e0af0f8d1a3a1b83efa1b25bcd98aae136b5",
"pose": [
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
"timestamp": 6052.601488849,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-003.jpg",
"sha256": "9dad0f7974d5e7d7058da3af0986f8ba54802e4803a2c742e5cf86d4bf6bfbe7",
"pose": [
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
"timestamp": 6053.069268254,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-004.jpg",
"sha256": "bd497dd1005617195d972ea51b556dc2cbfcef9dffa6e0043b54e4041b988af5",
"pose": [
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
"timestamp": 6053.605105562,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-005.jpg",
"sha256": "e5b8290a89a8d6eff49c0a12097c26863ff2953fdc2ff209e749989e739b65ab",
"pose": [
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
"timestamp": 6054.139260384,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-006.jpg",
"sha256": "a86a4b45ed0872754fc9b3dcd7116eeae182580a7307bcbb8e642331b407ef0b",
"pose": [
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
"timestamp": 6054.737259918,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-007.jpg",
"sha256": "99f0d667754f1e1e5d1b96f430b6df02c4a53af7fab2a8899254b832f8a398d8",
"pose": [
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
"timestamp": 6055.471598014,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-008.jpg",
"sha256": "7f185a418db16ac73329099b3fcb1e1cf84bd0ae1d0e74e66767995551182a9a",
"pose": [
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
"timestamp": 6056.139462483,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-009.jpg",
"sha256": "14eea9d12aacd8c0c383d85d15aefff5ddedb5e937bbd1de094bb446f482d5df",
"pose": [
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
"timestamp": 6056.874144398,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-000.jpg",
"sha256": "34d27f45ece04447a7b1cc4311c2888f0ac65731bf0e3a51cdf247512f121261",
"pose": [
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
"timestamp": 6057.807649416,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-001.jpg",
"sha256": "c6469c0a8f8bd6c4055ed242ff02dc0ba83aee2241889c0cd1d773b9c0489767",
"pose": [
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
"timestamp": 6058.341547974,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-002.jpg",
"sha256": "c7c1770b9f6979b1194c9c0c3e0255fbc51936578ce8837b3ca331ac617cead9",
"pose": [
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
"timestamp": 6059.012165586,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-003.jpg",
"sha256": "1184020b85a5e844ae8a1bf5413142e8d407c4c11b9eb90812512bb859e24eca",
"pose": [
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
"timestamp": 6059.877591518,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-004.jpg",
"sha256": "f2bc729e127eba548cceb2bbd6995d3f9f83568803398ddb7b644a754b26c122",
"pose": [
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
"timestamp": 6060.411071599,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-005.jpg",
"sha256": "d40d6bced09430cb6d395569d2af2467040a655c3f96b61e0060e2278c95a346",
"pose": [
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
"timestamp": 6060.947078288,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-006.jpg",
"sha256": "2771e11a82e50f375f2e89c249c212dc0d82a01234ed00f200b307902edaa88a",
"pose": [
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
"timestamp": 6061.544604911,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-007.jpg",
"sha256": "accebd5fa61aa76e5b785895bd2d90976fbf598b2eea5ba28bb2709dc8a022e3",
"pose": [
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
"timestamp": 6062.21123654,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-008.jpg",
"sha256": "663c8c425227a25cd1e3e85d193190edcfc0f2270764e8711b17bc25720e5946",
"pose": [
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
"timestamp": 6062.882077936,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-009.jpg",
"sha256": "f86b69b1076c2ba35c7a1b42b725a661c43b2438bd73ff5cb82fae513c3cb44d",
"pose": [
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
"timestamp": 6063.480914136,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-000.jpg",
"sha256": "93d65d5da6e1ce6ec1e5b459e375851613adb541def43e73f70c99fd78635068",
"pose": [
2.270241298422187,
-0.06112211506924292,
-0.24090352035749385
],
"timestamp": 6065.149390039,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-001.jpg",
"sha256": "e13be988e82db3c7c20b403be5dabcce29daece837211f8998536579618cdd4d",
"pose": [
2.368646192147315,
-0.08804302601339664,
-0.23075534939485287
],
"timestamp": 6065.948933178,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-002.jpg",
"sha256": "9d826a4da9123114d115717a3e97509f9498fc0364082adb3f9894a45d2f320a",
"pose": [
2.4589484837494138,
-0.10269031219793057,
-0.04393505992907931
],
"timestamp": 6066.683982721,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-003.jpg",
"sha256": "90095d3b4e6d8879961854f9a95b8bc1df5981f4c518050b148b502c4dd44302",
"pose": [
2.5475358144192306,
-0.09784969710269253,
0.035259272401918285
],
"timestamp": 6067.756826461,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-004.jpg",
"sha256": "ae7ab96c02753ef481de679cc45c07ae0a44049624d2e4720064e2698bee6938",
"pose": [
2.581368378410483,
-0.09504822280336422,
0.03958677200295746
],
"timestamp": 6068.353836427,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-005.jpg",
"sha256": "d9efb834f172cbcb3af2bbdf05bc81ff962bb76164c01260bba57f752dbbae06",
"pose": [
2.5968167153883104,
-0.0963093264347441,
0.027914454439458503
],
"timestamp": 6068.686607969,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-006.jpg",
"sha256": "268f369edfec07dee688e17c959b3e68e27522cf2ad050ff4db0725c015017a6",
"pose": [
2.67274884785974,
-0.08608946271051043,
0.01061967027129773
],
"timestamp": 6069.620025624,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-007.jpg",
"sha256": "204d9fd66a8383a42ab732ae81e2b95c3c82836a2d5cde8f35b28f254ca5dc16",
"pose": [
2.7608056928643685,
-0.08427653379925815,
0.034856857876613745
],
"timestamp": 6070.153283362,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-008.jpg",
"sha256": "db7fea6f531a48b2823854ebf4f9ebcce0693589842dd8891dc3e5908812c710",
"pose": [
2.8408424671291854,
-0.07439410568042981,
0.05239597861119494
],
"timestamp": 6070.754094089,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-009.jpg",
"sha256": "57585eaf580d43e79fd68b2287c22fdcfed24e20558dca6743bf6908cb89761a",
"pose": [
2.8987352156009587,
-0.0723723025946772,
0.07233754273512494
],
"timestamp": 6071.288957509,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-000.jpg",
"sha256": "034447f0fa8e4a7de850b0cd94f03ef6e355274188e3ed10412069fb2f576465",
"pose": [
2.9245092906840995,
-0.06951708350230201,
0.08408137830217521
],
"timestamp": 6072.363456982,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-001.jpg",
"sha256": "bc75c627351a5b361f17b0387f82eaf3de80767228999a63dddbebced47a53b9",
"pose": [
2.977762360085171,
-0.06267734984368323,
0.05777411810257771
],
"timestamp": 6072.958594729,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-002.jpg",
"sha256": "1cfa4194e5fa58efdb9ffdba8e66da32369c2535493b69e37486ae071e4c619b",
"pose": [
3.020484858441846,
-0.06530771350926434,
-0.003985473129864747
],
"timestamp": 6073.359989502,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-003.jpg",
"sha256": "bb0625bcb2483ef8fdbee736d3dd6c3567d1351b564b857631245d69524750df",
"pose": [
3.0595798701261314,
-0.06602181206992497,
-0.07050934577274726
],
"timestamp": 6073.823872432,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-004.jpg",
"sha256": "c0b454d16c132e19fbfa61b552942b04cc90fabd90a8b924e9a43df3bf7dd3b7",
"pose": [
3.153287182146091,
-0.07108085419603949,
-0.05098389012427206
],
"timestamp": 6074.626031942,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-005.jpg",
"sha256": "bfaac0c361c1437b569dce1db7b6415878e9a8adfb291f2b6b4ba65749be481f",
"pose": [
3.262321964577387,
-0.07394086059049454,
-0.05404126225088967
],
"timestamp": 6075.423806098,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-006.jpg",
"sha256": "398f745d03a6ad71ca2978cc70dfe70f06226a1276e275759f21fc8dd942a0ee",
"pose": [
3.362854280402603,
-0.07594155329352681,
0.037318393478522616
],
"timestamp": 6076.160236868,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-007.jpg",
"sha256": "45fba6450f7260b4506a5e02405ad7a301a671be8d3aeaf10e809e9c6e7d6c88",
"pose": [
3.458140235331716,
-0.06002255364132303,
0.12322366053472765
],
"timestamp": 6076.895781659,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-008.jpg",
"sha256": "f3e382936c7f0346ffdec9107120a7925dbe1319335f4c493c950df79fcdcdd9",
"pose": [
3.548447473625319,
-0.0453443453217639,
0.1582950661244289
],
"timestamp": 6077.493032209,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-009.jpg",
"sha256": "ae87f239dedf383f617d9767851c2c2879d8d3a4dba7892c2edfb66615fe244b",
"pose": [
3.544740084532514,
-0.046856400844280444,
0.1527901114425667
],
"timestamp": 6077.629279697,
"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,
29,
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": 1.8883161200001268,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
3,
4,
9,
10,
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,
50
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
3,
4,
9,
10,
15,
16
],
"tensor": "processed/segment1.pt",
"shape": [
6,
3,
256,
448
]
},
{
"indices": [
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
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
49,
50
],
"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:<12.4 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,
19,
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:<12.4 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-20261018-204709-345165c8/steps/000000/input-000.jpg",
"sha256": "0a35505900bcdc8288523d7889935389cff6c3f6776ffbdf893035c921d0ef30",
"pose": [
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
"timestamp": 6042.375119657,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-002.jpg",
"sha256": "a993f710bff3a2ac44a61e3c31bd2c8fdc6b715ba358f743aafca9c961f91408",
"pose": [
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
"timestamp": 6045.661557669,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-003.jpg",
"sha256": "e09366d2259e9eabe57a55de8c789e28b340af8326e797d8fa79f5e391699628",
"pose": [
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
"timestamp": 6046.395007801,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-008.jpg",
"sha256": "6f6224f6afe9286ab424f38aa78310b1147dcf32aeae26ee0aa96a92b548a7ac",
"pose": [
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
"timestamp": 6049.733467366,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-004.jpg",
"sha256": "bd497dd1005617195d972ea51b556dc2cbfcef9dffa6e0043b54e4041b988af5",
"pose": [
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
"timestamp": 6053.605105562,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-005.jpg",
"sha256": "e5b8290a89a8d6eff49c0a12097c26863ff2953fdc2ff209e749989e739b65ab",
"pose": [
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
"timestamp": 6054.139260384,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-006.jpg",
"sha256": "a86a4b45ed0872754fc9b3dcd7116eeae182580a7307bcbb8e642331b407ef0b",
"pose": [
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
"timestamp": 6054.737259918,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-007.jpg",
"sha256": "99f0d667754f1e1e5d1b96f430b6df02c4a53af7fab2a8899254b832f8a398d8",
"pose": [
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
"timestamp": 6055.471598014,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-008.jpg",
"sha256": "7f185a418db16ac73329099b3fcb1e1cf84bd0ae1d0e74e66767995551182a9a",
"pose": [
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
"timestamp": 6056.139462483,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-009.jpg",
"sha256": "14eea9d12aacd8c0c383d85d15aefff5ddedb5e937bbd1de094bb446f482d5df",
"pose": [
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
"timestamp": 6056.874144398,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-000.jpg",
"sha256": "34d27f45ece04447a7b1cc4311c2888f0ac65731bf0e3a51cdf247512f121261",
"pose": [
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
"timestamp": 6057.807649416,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-001.jpg",
"sha256": "c6469c0a8f8bd6c4055ed242ff02dc0ba83aee2241889c0cd1d773b9c0489767",
"pose": [
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
"timestamp": 6058.341547974,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-002.jpg",
"sha256": "c7c1770b9f6979b1194c9c0c3e0255fbc51936578ce8837b3ca331ac617cead9",
"pose": [
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
"timestamp": 6059.012165586,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-003.jpg",
"sha256": "1184020b85a5e844ae8a1bf5413142e8d407c4c11b9eb90812512bb859e24eca",
"pose": [
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
"timestamp": 6059.877591518,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-004.jpg",
"sha256": "f2bc729e127eba548cceb2bbd6995d3f9f83568803398ddb7b644a754b26c122",
"pose": [
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
"timestamp": 6060.411071599,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-005.jpg",
"sha256": "d40d6bced09430cb6d395569d2af2467040a655c3f96b61e0060e2278c95a346",
"pose": [
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
"timestamp": 6060.947078288,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-006.jpg",
"sha256": "2771e11a82e50f375f2e89c249c212dc0d82a01234ed00f200b307902edaa88a",
"pose": [
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
"timestamp": 6061.544604911,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-007.jpg",
"sha256": "accebd5fa61aa76e5b785895bd2d90976fbf598b2eea5ba28bb2709dc8a022e3",
"pose": [
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
"timestamp": 6062.21123654,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-008.jpg",
"sha256": "663c8c425227a25cd1e3e85d193190edcfc0f2270764e8711b17bc25720e5946",
"pose": [
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
"timestamp": 6062.882077936,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-009.jpg",
"sha256": "f86b69b1076c2ba35c7a1b42b725a661c43b2438bd73ff5cb82fae513c3cb44d",
"pose": [
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
"timestamp": 6063.480914136,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-000.jpg",
"sha256": "93d65d5da6e1ce6ec1e5b459e375851613adb541def43e73f70c99fd78635068",
"pose": [
2.270241298422187,
-0.06112211506924292,
-0.24090352035749385
],
"timestamp": 6065.149390039,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-001.jpg",
"sha256": "e13be988e82db3c7c20b403be5dabcce29daece837211f8998536579618cdd4d",
"pose": [
2.368646192147315,
-0.08804302601339664,
-0.23075534939485287
],
"timestamp": 6065.948933178,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-002.jpg",
"sha256": "9d826a4da9123114d115717a3e97509f9498fc0364082adb3f9894a45d2f320a",
"pose": [
2.4589484837494138,
-0.10269031219793057,
-0.04393505992907931
],
"timestamp": 6066.683982721,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-003.jpg",
"sha256": "90095d3b4e6d8879961854f9a95b8bc1df5981f4c518050b148b502c4dd44302",
"pose": [
2.5475358144192306,
-0.09784969710269253,
0.035259272401918285
],
"timestamp": 6067.756826461,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-004.jpg",
"sha256": "ae7ab96c02753ef481de679cc45c07ae0a44049624d2e4720064e2698bee6938",
"pose": [
2.581368378410483,
-0.09504822280336422,
0.03958677200295746
],
"timestamp": 6068.353836427,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-005.jpg",
"sha256": "d9efb834f172cbcb3af2bbdf05bc81ff962bb76164c01260bba57f752dbbae06",
"pose": [
2.5968167153883104,
-0.0963093264347441,
0.027914454439458503
],
"timestamp": 6068.686607969,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-006.jpg",
"sha256": "268f369edfec07dee688e17c959b3e68e27522cf2ad050ff4db0725c015017a6",
"pose": [
2.67274884785974,
-0.08608946271051043,
0.01061967027129773
],
"timestamp": 6069.620025624,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-007.jpg",
"sha256": "204d9fd66a8383a42ab732ae81e2b95c3c82836a2d5cde8f35b28f254ca5dc16",
"pose": [
2.7608056928643685,
-0.08427653379925815,
0.034856857876613745
],
"timestamp": 6070.153283362,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-008.jpg",
"sha256": "db7fea6f531a48b2823854ebf4f9ebcce0693589842dd8891dc3e5908812c710",
"pose": [
2.8408424671291854,
-0.07439410568042981,
0.05239597861119494
],
"timestamp": 6070.754094089,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-009.jpg",
"sha256": "57585eaf580d43e79fd68b2287c22fdcfed24e20558dca6743bf6908cb89761a",
"pose": [
2.8987352156009587,
-0.0723723025946772,
0.07233754273512494
],
"timestamp": 6071.288957509,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-000.jpg",
"sha256": "034447f0fa8e4a7de850b0cd94f03ef6e355274188e3ed10412069fb2f576465",
"pose": [
2.9245092906840995,
-0.06951708350230201,
0.08408137830217521
],
"timestamp": 6072.363456982,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-001.jpg",
"sha256": "bc75c627351a5b361f17b0387f82eaf3de80767228999a63dddbebced47a53b9",
"pose": [
2.977762360085171,
-0.06267734984368323,
0.05777411810257771
],
"timestamp": 6072.958594729,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-002.jpg",
"sha256": "1cfa4194e5fa58efdb9ffdba8e66da32369c2535493b69e37486ae071e4c619b",
"pose": [
3.020484858441846,
-0.06530771350926434,
-0.003985473129864747
],
"timestamp": 6073.359989502,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-003.jpg",
"sha256": "bb0625bcb2483ef8fdbee736d3dd6c3567d1351b564b857631245d69524750df",
"pose": [
3.0595798701261314,
-0.06602181206992497,
-0.07050934577274726
],
"timestamp": 6073.823872432,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-004.jpg",
"sha256": "c0b454d16c132e19fbfa61b552942b04cc90fabd90a8b924e9a43df3bf7dd3b7",
"pose": [
3.153287182146091,
-0.07108085419603949,
-0.05098389012427206
],
"timestamp": 6074.626031942,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-005.jpg",
"sha256": "bfaac0c361c1437b569dce1db7b6415878e9a8adfb291f2b6b4ba65749be481f",
"pose": [
3.262321964577387,
-0.07394086059049454,
-0.05404126225088967
],
"timestamp": 6075.423806098,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-006.jpg",
"sha256": "398f745d03a6ad71ca2978cc70dfe70f06226a1276e275759f21fc8dd942a0ee",
"pose": [
3.362854280402603,
-0.07594155329352681,
0.037318393478522616
],
"timestamp": 6076.160236868,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-007.jpg",
"sha256": "45fba6450f7260b4506a5e02405ad7a301a671be8d3aeaf10e809e9c6e7d6c88",
"pose": [
3.458140235331716,
-0.06002255364132303,
0.12322366053472765
],
"timestamp": 6076.895781659,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-008.jpg",
"sha256": "f3e382936c7f0346ffdec9107120a7925dbe1319335f4c493c950df79fcdcdd9",
"pose": [
3.548447473625319,
-0.0453443453217639,
0.1582950661244289
],
"timestamp": 6077.493032209,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-009.jpg",
"sha256": "ae87f239dedf383f617d9767851c2c2879d8d3a4dba7892c2edfb66615fe244b",
"pose": [
3.544740084532514,
-0.046856400844280444,
0.1527901114425667
],
"timestamp": 6077.629279697,
"observation_id": 50
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<12.4 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": [
[
0.0003765852889046073,
-0.0011937199160456657,
-0.3213900029659271
],
[
0.1555593857112712,
-0.013719180741414545,
-0.04458877444267273
],
[
0.14565395077107163,
0.013627223821019295,
0.15866638720035553
],
[
0.13523760937440346,
0.007297485415125461,
0.10311166942119598
],
[
0.06390705931346873,
0.006230509243064217,
0.046152159571647644
],
[
0.03915910913837261,
0.0022882396166070294,
0.01597122848033905
],
[
0.1149101721509695,
0.0012789846735711081,
-0.024331435561180115
],
[
0.1336829780977743,
0.00037595086837790594,
-0.02467111498117447
],
[
0.12067037109363209,
6.195136543040228e-05,
-0.008166544139385223
],
[
0.09657659335933821,
-3.4964795068159055e-05,
-0.0029238089919090267
]
],
"stop": false,
"plan": null,
"raw": "<apos_1088><opos_508><act_l0_27><act_l1_47><act_l2_28><|im_end|>",
"waypoints": [
[
0.0003765852889046073,
-0.0011937199160456657,
-0.3213900029659271
],
[
0.14363721013069153,
-0.06334942579269409,
-0.36597877740859985
],
[
0.28452175855636597,
-0.10274890065193176,
-0.20731239020824432
],
[
0.4183656573295593,
-0.12344370782375336,
-0.10420072078704834
],
[
0.48257413506507874,
-0.1238941103219986,
-0.058048561215400696
],
[
0.5218000411987305,
-0.12388157844543457,
-0.042077332735061646
],
[
0.6366623044013977,
-0.12743741273880005,
-0.06640876829624176
],
[
0.7700755596160889,
-0.13593348860740662,
-0.09107988327741623
],
[
0.8902513980865479,
-0.14684724807739258,
-0.09924642741680145
],
[
0.9863492846488953,
-0.15645119547843933,
-0.10217023640871048
]
],
"pointing": {
"apos": 1088,
"opos": 508
},
"rvq_codes": [
27,
47,
28
],
"model_input": {
"history_indices": [
0,
1,
3,
4,
9,
10,
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,
50
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
3,
4,
9,
10,
15,
16
],
"tensor": "processed/segment1.pt",
"shape": [
6,
3,
256,
448
]
},
{
"indices": [
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
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
49,
50
],
"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:<12.4 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,
19,
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:<12.4 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": 242.69518395885825
},
"response": {
"type": "step",
"actions": [
[
0.0003765852889046073,
-0.0011937199160456657,
-0.3213900029659271
],
[
0.1555593857112712,
-0.013719180741414545,
-0.04458877444267273
],
[
0.14565395077107163,
0.013627223821019295,
0.15866638720035553
],
[
0.13523760937440346,
0.007297485415125461,
0.10311166942119598
],
[
0.06390705931346873,
0.006230509243064217,
0.046152159571647644
],
[
0.03915910913837261,
0.0022882396166070294,
0.01597122848033905
],
[
0.1149101721509695,
0.0012789846735711081,
-0.024331435561180115
],
[
0.1336829780977743,
0.00037595086837790594,
-0.02467111498117447
],
[
0.12067037109363209,
6.195136543040228e-05,
-0.008166544139385223
],
[
0.09657659335933821,
-3.4964795068159055e-05,
-0.0029238089919090267
],
[
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-20261018-204709-345165c8",
"inference_id": 5,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.4415734801441431,
"peak_memory_bytes": 9544498688,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.4452063301578164
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.0003765852889046073,
-0.0011937199160456657,
-0.3213900029659271
],
[
0.14363721013069156,
-0.06334942579269409,
-0.3659787774085998
],
[
0.284521758556366,
-0.10274890065193176,
-0.20731239020824427
],
[
0.4183656573295593,
-0.12344370782375334,
-0.10420072078704828
],
[
0.48257413506507874,
-0.12389411032199858,
-0.05804856121540064
],
[
0.5218000411987305,
-0.12388157844543457,
-0.04207733273506159
],
[
0.6366623044013977,
-0.12743741273880005,
-0.0664087682962417
],
[
0.7700755596160889,
-0.13593348860740662,
-0.09107988327741617
],
[
0.8902513980865479,
-0.14684724807739255,
-0.0992464274168014
],
[
0.9863492846488953,
-0.1564511954784393,
-0.10217023640871042
]
],
"observed_poses": [
[
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
[
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
[
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
[
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
[
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
[
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
[
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
[
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
[
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
[
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
[
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
[
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
[
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
[
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
[
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
[
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
[
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
[
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
[
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
[
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
[
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
[
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
[
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
[
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
[
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
[
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
[
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
[
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
[
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
[
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
[
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
[
2.270241298422187,
-0.06112211506924292,
-0.24090352035749385
],
[
2.368646192147315,
-0.08804302601339664,
-0.23075534939485287
],
[
2.4589484837494138,
-0.10269031219793057,
-0.04393505992907931
],
[
2.5475358144192306,
-0.09784969710269253,
0.035259272401918285
],
[
2.581368378410483,
-0.09504822280336422,
0.03958677200295746
],
[
2.5968167153883104,
-0.0963093264347441,
0.027914454439458503
],
[
2.67274884785974,
-0.08608946271051043,
0.01061967027129773
],
[
2.7608056928643685,
-0.08427653379925815,
0.034856857876613745
],
[
2.8408424671291854,
-0.07439410568042981,
0.05239597861119494
],
[
2.8987352156009587,
-0.0723723025946772,
0.07233754273512494
],
[
2.9245092906840995,
-0.06951708350230201,
0.08408137830217521
],
[
2.977762360085171,
-0.06267734984368323,
0.05777411810257771
],
[
3.020484858441846,
-0.06530771350926434,
-0.003985473129864747
],
[
3.0595798701261314,
-0.06602181206992497,
-0.07050934577274726
],
[
3.153287182146091,
-0.07108085419603949,
-0.05098389012427206
],
[
3.262321964577387,
-0.07394086059049454,
-0.05404126225088967
],
[
3.362854280402603,
-0.07594155329352681,
0.037318393478522616
],
[
3.458140235331716,
-0.06002255364132303,
0.12322366053472765
],
[
3.548447473625319,
-0.0453443453217639,
0.1582950661244289
],
[
3.544740084532514,
-0.046856400844280444,
0.1527901114425667
]
]
}
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-20261018-204709-345165c8/steps/000000/input-000.jpg",
"sha256": "0a35505900bcdc8288523d7889935389cff6c3f6776ffbdf893035c921d0ef30",
"pose": [
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
"timestamp": 6042.375119657,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-002.jpg",
"sha256": "a993f710bff3a2ac44a61e3c31bd2c8fdc6b715ba358f743aafca9c961f91408",
"pose": [
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
"timestamp": 6045.661557669,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-003.jpg",
"sha256": "e09366d2259e9eabe57a55de8c789e28b340af8326e797d8fa79f5e391699628",
"pose": [
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
"timestamp": 6046.395007801,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-004.jpg",
"sha256": "c01b72a2bf4ec339619d2763912e568fac45fd829a9f8301923ab8478d00a927",
"pose": [
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
"timestamp": 6047.063579332,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-005.jpg",
"sha256": "db22854ed6940773fdccf9cbab5f370022fc90e92c6fbfe75ecf179938512006",
"pose": [
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
"timestamp": 6047.596610246,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-006.jpg",
"sha256": "27d31d63d5b5af3354bc32c810df4609449f43b9a5e8f927698e707823aeb3a6",
"pose": [
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
"timestamp": 6048.332975863,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-007.jpg",
"sha256": "10dd064a72b584d22fda1f53ff52203799b92acf0610b35743f1d0db68f3bf1b",
"pose": [
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
"timestamp": 6049.002041618,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-008.jpg",
"sha256": "6f6224f6afe9286ab424f38aa78310b1147dcf32aeae26ee0aa96a92b548a7ac",
"pose": [
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
"timestamp": 6049.733467366,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-000.jpg",
"sha256": "dda4dd8e491f8b6b523ba12677fd8747994520f387e75a40530eeb32f79c5892",
"pose": [
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
"timestamp": 6051.468788107,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-001.jpg",
"sha256": "3af9d8fad94e54ed92094cb68080b212f90c960d156d10db6b0d6826eb46461c",
"pose": [
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
"timestamp": 6052.071391467,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-002.jpg",
"sha256": "e533d400b818bd2ea087ef80d970e0af0f8d1a3a1b83efa1b25bcd98aae136b5",
"pose": [
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
"timestamp": 6052.601488849,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-003.jpg",
"sha256": "9dad0f7974d5e7d7058da3af0986f8ba54802e4803a2c742e5cf86d4bf6bfbe7",
"pose": [
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
"timestamp": 6053.069268254,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-004.jpg",
"sha256": "bd497dd1005617195d972ea51b556dc2cbfcef9dffa6e0043b54e4041b988af5",
"pose": [
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
"timestamp": 6053.605105562,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-005.jpg",
"sha256": "e5b8290a89a8d6eff49c0a12097c26863ff2953fdc2ff209e749989e739b65ab",
"pose": [
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
"timestamp": 6054.139260384,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-006.jpg",
"sha256": "a86a4b45ed0872754fc9b3dcd7116eeae182580a7307bcbb8e642331b407ef0b",
"pose": [
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
"timestamp": 6054.737259918,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-007.jpg",
"sha256": "99f0d667754f1e1e5d1b96f430b6df02c4a53af7fab2a8899254b832f8a398d8",
"pose": [
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
"timestamp": 6055.471598014,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-008.jpg",
"sha256": "7f185a418db16ac73329099b3fcb1e1cf84bd0ae1d0e74e66767995551182a9a",
"pose": [
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
"timestamp": 6056.139462483,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-009.jpg",
"sha256": "14eea9d12aacd8c0c383d85d15aefff5ddedb5e937bbd1de094bb446f482d5df",
"pose": [
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
"timestamp": 6056.874144398,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-000.jpg",
"sha256": "34d27f45ece04447a7b1cc4311c2888f0ac65731bf0e3a51cdf247512f121261",
"pose": [
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
"timestamp": 6057.807649416,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-001.jpg",
"sha256": "c6469c0a8f8bd6c4055ed242ff02dc0ba83aee2241889c0cd1d773b9c0489767",
"pose": [
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
"timestamp": 6058.341547974,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-002.jpg",
"sha256": "c7c1770b9f6979b1194c9c0c3e0255fbc51936578ce8837b3ca331ac617cead9",
"pose": [
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
"timestamp": 6059.012165586,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-003.jpg",
"sha256": "1184020b85a5e844ae8a1bf5413142e8d407c4c11b9eb90812512bb859e24eca",
"pose": [
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
"timestamp": 6059.877591518,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-004.jpg",
"sha256": "f2bc729e127eba548cceb2bbd6995d3f9f83568803398ddb7b644a754b26c122",
"pose": [
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
"timestamp": 6060.411071599,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-005.jpg",
"sha256": "d40d6bced09430cb6d395569d2af2467040a655c3f96b61e0060e2278c95a346",
"pose": [
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
"timestamp": 6060.947078288,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-006.jpg",
"sha256": "2771e11a82e50f375f2e89c249c212dc0d82a01234ed00f200b307902edaa88a",
"pose": [
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
"timestamp": 6061.544604911,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-007.jpg",
"sha256": "accebd5fa61aa76e5b785895bd2d90976fbf598b2eea5ba28bb2709dc8a022e3",
"pose": [
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
"timestamp": 6062.21123654,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-008.jpg",
"sha256": "663c8c425227a25cd1e3e85d193190edcfc0f2270764e8711b17bc25720e5946",
"pose": [
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
"timestamp": 6062.882077936,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-009.jpg",
"sha256": "f86b69b1076c2ba35c7a1b42b725a661c43b2438bd73ff5cb82fae513c3cb44d",
"pose": [
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
"timestamp": 6063.480914136,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-000.jpg",
"sha256": "93d65d5da6e1ce6ec1e5b459e375851613adb541def43e73f70c99fd78635068",
"pose": [
2.270241298422187,
-0.06112211506924292,
-0.24090352035749385
],
"timestamp": 6065.149390039,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-001.jpg",
"sha256": "e13be988e82db3c7c20b403be5dabcce29daece837211f8998536579618cdd4d",
"pose": [
2.368646192147315,
-0.08804302601339664,
-0.23075534939485287
],
"timestamp": 6065.948933178,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-002.jpg",
"sha256": "9d826a4da9123114d115717a3e97509f9498fc0364082adb3f9894a45d2f320a",
"pose": [
2.4589484837494138,
-0.10269031219793057,
-0.04393505992907931
],
"timestamp": 6066.683982721,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-003.jpg",
"sha256": "90095d3b4e6d8879961854f9a95b8bc1df5981f4c518050b148b502c4dd44302",
"pose": [
2.5475358144192306,
-0.09784969710269253,
0.035259272401918285
],
"timestamp": 6067.756826461,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-004.jpg",
"sha256": "ae7ab96c02753ef481de679cc45c07ae0a44049624d2e4720064e2698bee6938",
"pose": [
2.581368378410483,
-0.09504822280336422,
0.03958677200295746
],
"timestamp": 6068.353836427,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-005.jpg",
"sha256": "d9efb834f172cbcb3af2bbdf05bc81ff962bb76164c01260bba57f752dbbae06",
"pose": [
2.5968167153883104,
-0.0963093264347441,
0.027914454439458503
],
"timestamp": 6068.686607969,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-006.jpg",
"sha256": "268f369edfec07dee688e17c959b3e68e27522cf2ad050ff4db0725c015017a6",
"pose": [
2.67274884785974,
-0.08608946271051043,
0.01061967027129773
],
"timestamp": 6069.620025624,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-007.jpg",
"sha256": "204d9fd66a8383a42ab732ae81e2b95c3c82836a2d5cde8f35b28f254ca5dc16",
"pose": [
2.7608056928643685,
-0.08427653379925815,
0.034856857876613745
],
"timestamp": 6070.153283362,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-008.jpg",
"sha256": "db7fea6f531a48b2823854ebf4f9ebcce0693589842dd8891dc3e5908812c710",
"pose": [
2.8408424671291854,
-0.07439410568042981,
0.05239597861119494
],
"timestamp": 6070.754094089,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-009.jpg",
"sha256": "57585eaf580d43e79fd68b2287c22fdcfed24e20558dca6743bf6908cb89761a",
"pose": [
2.8987352156009587,
-0.0723723025946772,
0.07233754273512494
],
"timestamp": 6071.288957509,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-000.jpg",
"sha256": "034447f0fa8e4a7de850b0cd94f03ef6e355274188e3ed10412069fb2f576465",
"pose": [
2.9245092906840995,
-0.06951708350230201,
0.08408137830217521
],
"timestamp": 6072.363456982,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-001.jpg",
"sha256": "bc75c627351a5b361f17b0387f82eaf3de80767228999a63dddbebced47a53b9",
"pose": [
2.977762360085171,
-0.06267734984368323,
0.05777411810257771
],
"timestamp": 6072.958594729,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-002.jpg",
"sha256": "1cfa4194e5fa58efdb9ffdba8e66da32369c2535493b69e37486ae071e4c619b",
"pose": [
3.020484858441846,
-0.06530771350926434,
-0.003985473129864747
],
"timestamp": 6073.359989502,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-003.jpg",
"sha256": "bb0625bcb2483ef8fdbee736d3dd6c3567d1351b564b857631245d69524750df",
"pose": [
3.0595798701261314,
-0.06602181206992497,
-0.07050934577274726
],
"timestamp": 6073.823872432,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-004.jpg",
"sha256": "c0b454d16c132e19fbfa61b552942b04cc90fabd90a8b924e9a43df3bf7dd3b7",
"pose": [
3.153287182146091,
-0.07108085419603949,
-0.05098389012427206
],
"timestamp": 6074.626031942,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-005.jpg",
"sha256": "bfaac0c361c1437b569dce1db7b6415878e9a8adfb291f2b6b4ba65749be481f",
"pose": [
3.262321964577387,
-0.07394086059049454,
-0.05404126225088967
],
"timestamp": 6075.423806098,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-006.jpg",
"sha256": "398f745d03a6ad71ca2978cc70dfe70f06226a1276e275759f21fc8dd942a0ee",
"pose": [
3.362854280402603,
-0.07594155329352681,
0.037318393478522616
],
"timestamp": 6076.160236868,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-007.jpg",
"sha256": "45fba6450f7260b4506a5e02405ad7a301a671be8d3aeaf10e809e9c6e7d6c88",
"pose": [
3.458140235331716,
-0.06002255364132303,
0.12322366053472765
],
"timestamp": 6076.895781659,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-008.jpg",
"sha256": "f3e382936c7f0346ffdec9107120a7925dbe1319335f4c493c950df79fcdcdd9",
"pose": [
3.548447473625319,
-0.0453443453217639,
0.1582950661244289
],
"timestamp": 6077.493032209,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-009.jpg",
"sha256": "ae87f239dedf383f617d9767851c2c2879d8d3a4dba7892c2edfb66615fe244b",
"pose": [
3.544740084532514,
-0.046856400844280444,
0.1527901114425667
],
"timestamp": 6077.629279697,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-000.jpg",
"sha256": "62ba9f6b6100a5a9cab49fa4a43fb69e0c14bf5842d28748948d279970239ca6",
"pose": [
3.53685989995882,
-0.0553364021895284,
-0.15522267564965864
],
"timestamp": 6079.366389263,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-001.jpg",
"sha256": "39fb78e5fa7ac06e6e31234f046bf0aee7cac8ec6c8467f992ec0c76787b49f6",
"pose": [
3.644578790072887,
-0.08481946198567791,
-0.20053508209603255
],
"timestamp": 6080.163577992,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-002.jpg",
"sha256": "f9080c539bebc8a40678023e2f412d395f7bada956ffe511e87403956b504526",
"pose": [
3.7417876569688957,
-0.08920600552110969,
-0.06403281466418687
],
"timestamp": 6081.098817017,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-003.jpg",
"sha256": "6b0f27c0e410715685b8fd651c505c72a4eb8822e1b20dcce9129dc42e20801e",
"pose": [
3.838795647086378,
-0.08155253774272841,
0.029703906059650453
],
"timestamp": 6081.898912142,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-004.jpg",
"sha256": "e881b30b16c116c6511d5d6976b6f62b559f9abfafe8814c4dc96fe96304f890",
"pose": [
3.8604802962156177,
-0.07696111883076706,
0.05529183166871654
],
"timestamp": 6082.16672396,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-005.jpg",
"sha256": "37d1e3c74fcd6805c492da9048d2cc282d592ce5980bad2b0b8ee57a13fe9580",
"pose": [
3.8603493323619738,
-0.0775153834744502,
0.05417939709501774
],
"timestamp": 6082.299919703,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-006.jpg",
"sha256": "a9d56ecf20b0e0efe279f56b282c2ed478ea8e62602e30afaba8f6afc1aa93ac",
"pose": [
3.926337959114476,
-0.0752595774898237,
0.06121706003668681
],
"timestamp": 6083.099738691,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-007.jpg",
"sha256": "67e650e7643dd9ea82dbfba20b20dfc52f97981e804638959acd9a757b79b8ba",
"pose": [
4.01825438606604,
-0.06110866800952919,
0.04855457007822661
],
"timestamp": 6083.834324603,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-008.jpg",
"sha256": "035eb346ff097784932b5bb8d7933f51a41095dfafd1253d2d61c5bdf5560a0f",
"pose": [
4.090198595725652,
-0.059859347469977786,
0.07175732869900654
],
"timestamp": 6084.503161935,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-009.jpg",
"sha256": "97842bd737460eac256019a05595757ac2476656e57e3e73ab16a041ebf6a646",
"pose": [
4.144861482388943,
-0.04961570866016962,
0.06458311729481725
],
"timestamp": 6085.302913785,
"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,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
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": 1.8883161200001268,
"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-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-005.jpg",
"sha256": "db22854ed6940773fdccf9cbab5f370022fc90e92c6fbfe75ecf179938512006",
"pose": [
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
"timestamp": 6047.596610246,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-006.jpg",
"sha256": "27d31d63d5b5af3354bc32c810df4609449f43b9a5e8f927698e707823aeb3a6",
"pose": [
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
"timestamp": 6048.332975863,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-001.jpg",
"sha256": "3af9d8fad94e54ed92094cb68080b212f90c960d156d10db6b0d6826eb46461c",
"pose": [
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
"timestamp": 6052.071391467,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-002.jpg",
"sha256": "e533d400b818bd2ea087ef80d970e0af0f8d1a3a1b83efa1b25bcd98aae136b5",
"pose": [
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
"timestamp": 6052.601488849,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-007.jpg",
"sha256": "99f0d667754f1e1e5d1b96f430b6df02c4a53af7fab2a8899254b832f8a398d8",
"pose": [
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
"timestamp": 6055.471598014,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-008.jpg",
"sha256": "7f185a418db16ac73329099b3fcb1e1cf84bd0ae1d0e74e66767995551182a9a",
"pose": [
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
"timestamp": 6056.139462483,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-003.jpg",
"sha256": "1184020b85a5e844ae8a1bf5413142e8d407c4c11b9eb90812512bb859e24eca",
"pose": [
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
"timestamp": 6059.877591518,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-004.jpg",
"sha256": "f2bc729e127eba548cceb2bbd6995d3f9f83568803398ddb7b644a754b26c122",
"pose": [
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
"timestamp": 6060.411071599,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-005.jpg",
"sha256": "d40d6bced09430cb6d395569d2af2467040a655c3f96b61e0060e2278c95a346",
"pose": [
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
"timestamp": 6060.947078288,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-006.jpg",
"sha256": "2771e11a82e50f375f2e89c249c212dc0d82a01234ed00f200b307902edaa88a",
"pose": [
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
"timestamp": 6061.544604911,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-007.jpg",
"sha256": "accebd5fa61aa76e5b785895bd2d90976fbf598b2eea5ba28bb2709dc8a022e3",
"pose": [
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
"timestamp": 6062.21123654,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-008.jpg",
"sha256": "663c8c425227a25cd1e3e85d193190edcfc0f2270764e8711b17bc25720e5946",
"pose": [
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
"timestamp": 6062.882077936,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-009.jpg",
"sha256": "f86b69b1076c2ba35c7a1b42b725a661c43b2438bd73ff5cb82fae513c3cb44d",
"pose": [
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
"timestamp": 6063.480914136,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-000.jpg",
"sha256": "93d65d5da6e1ce6ec1e5b459e375851613adb541def43e73f70c99fd78635068",
"pose": [
2.270241298422187,
-0.06112211506924292,
-0.24090352035749385
],
"timestamp": 6065.149390039,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-001.jpg",
"sha256": "e13be988e82db3c7c20b403be5dabcce29daece837211f8998536579618cdd4d",
"pose": [
2.368646192147315,
-0.08804302601339664,
-0.23075534939485287
],
"timestamp": 6065.948933178,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-002.jpg",
"sha256": "9d826a4da9123114d115717a3e97509f9498fc0364082adb3f9894a45d2f320a",
"pose": [
2.4589484837494138,
-0.10269031219793057,
-0.04393505992907931
],
"timestamp": 6066.683982721,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-003.jpg",
"sha256": "90095d3b4e6d8879961854f9a95b8bc1df5981f4c518050b148b502c4dd44302",
"pose": [
2.5475358144192306,
-0.09784969710269253,
0.035259272401918285
],
"timestamp": 6067.756826461,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-004.jpg",
"sha256": "ae7ab96c02753ef481de679cc45c07ae0a44049624d2e4720064e2698bee6938",
"pose": [
2.581368378410483,
-0.09504822280336422,
0.03958677200295746
],
"timestamp": 6068.353836427,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-005.jpg",
"sha256": "d9efb834f172cbcb3af2bbdf05bc81ff962bb76164c01260bba57f752dbbae06",
"pose": [
2.5968167153883104,
-0.0963093264347441,
0.027914454439458503
],
"timestamp": 6068.686607969,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-006.jpg",
"sha256": "268f369edfec07dee688e17c959b3e68e27522cf2ad050ff4db0725c015017a6",
"pose": [
2.67274884785974,
-0.08608946271051043,
0.01061967027129773
],
"timestamp": 6069.620025624,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-007.jpg",
"sha256": "204d9fd66a8383a42ab732ae81e2b95c3c82836a2d5cde8f35b28f254ca5dc16",
"pose": [
2.7608056928643685,
-0.08427653379925815,
0.034856857876613745
],
"timestamp": 6070.153283362,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-008.jpg",
"sha256": "db7fea6f531a48b2823854ebf4f9ebcce0693589842dd8891dc3e5908812c710",
"pose": [
2.8408424671291854,
-0.07439410568042981,
0.05239597861119494
],
"timestamp": 6070.754094089,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-009.jpg",
"sha256": "57585eaf580d43e79fd68b2287c22fdcfed24e20558dca6743bf6908cb89761a",
"pose": [
2.8987352156009587,
-0.0723723025946772,
0.07233754273512494
],
"timestamp": 6071.288957509,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-000.jpg",
"sha256": "034447f0fa8e4a7de850b0cd94f03ef6e355274188e3ed10412069fb2f576465",
"pose": [
2.9245092906840995,
-0.06951708350230201,
0.08408137830217521
],
"timestamp": 6072.363456982,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-001.jpg",
"sha256": "bc75c627351a5b361f17b0387f82eaf3de80767228999a63dddbebced47a53b9",
"pose": [
2.977762360085171,
-0.06267734984368323,
0.05777411810257771
],
"timestamp": 6072.958594729,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-002.jpg",
"sha256": "1cfa4194e5fa58efdb9ffdba8e66da32369c2535493b69e37486ae071e4c619b",
"pose": [
3.020484858441846,
-0.06530771350926434,
-0.003985473129864747
],
"timestamp": 6073.359989502,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-003.jpg",
"sha256": "bb0625bcb2483ef8fdbee736d3dd6c3567d1351b564b857631245d69524750df",
"pose": [
3.0595798701261314,
-0.06602181206992497,
-0.07050934577274726
],
"timestamp": 6073.823872432,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-004.jpg",
"sha256": "c0b454d16c132e19fbfa61b552942b04cc90fabd90a8b924e9a43df3bf7dd3b7",
"pose": [
3.153287182146091,
-0.07108085419603949,
-0.05098389012427206
],
"timestamp": 6074.626031942,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-005.jpg",
"sha256": "bfaac0c361c1437b569dce1db7b6415878e9a8adfb291f2b6b4ba65749be481f",
"pose": [
3.262321964577387,
-0.07394086059049454,
-0.05404126225088967
],
"timestamp": 6075.423806098,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-006.jpg",
"sha256": "398f745d03a6ad71ca2978cc70dfe70f06226a1276e275759f21fc8dd942a0ee",
"pose": [
3.362854280402603,
-0.07594155329352681,
0.037318393478522616
],
"timestamp": 6076.160236868,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-007.jpg",
"sha256": "45fba6450f7260b4506a5e02405ad7a301a671be8d3aeaf10e809e9c6e7d6c88",
"pose": [
3.458140235331716,
-0.06002255364132303,
0.12322366053472765
],
"timestamp": 6076.895781659,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-008.jpg",
"sha256": "f3e382936c7f0346ffdec9107120a7925dbe1319335f4c493c950df79fcdcdd9",
"pose": [
3.548447473625319,
-0.0453443453217639,
0.1582950661244289
],
"timestamp": 6077.493032209,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-000.jpg",
"sha256": "62ba9f6b6100a5a9cab49fa4a43fb69e0c14bf5842d28748948d279970239ca6",
"pose": [
3.53685989995882,
-0.0553364021895284,
-0.15522267564965864
],
"timestamp": 6079.366389263,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-001.jpg",
"sha256": "39fb78e5fa7ac06e6e31234f046bf0aee7cac8ec6c8467f992ec0c76787b49f6",
"pose": [
3.644578790072887,
-0.08481946198567791,
-0.20053508209603255
],
"timestamp": 6080.163577992,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-002.jpg",
"sha256": "f9080c539bebc8a40678023e2f412d395f7bada956ffe511e87403956b504526",
"pose": [
3.7417876569688957,
-0.08920600552110969,
-0.06403281466418687
],
"timestamp": 6081.098817017,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-003.jpg",
"sha256": "6b0f27c0e410715685b8fd651c505c72a4eb8822e1b20dcce9129dc42e20801e",
"pose": [
3.838795647086378,
-0.08155253774272841,
0.029703906059650453
],
"timestamp": 6081.898912142,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-004.jpg",
"sha256": "e881b30b16c116c6511d5d6976b6f62b559f9abfafe8814c4dc96fe96304f890",
"pose": [
3.8604802962156177,
-0.07696111883076706,
0.05529183166871654
],
"timestamp": 6082.16672396,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-005.jpg",
"sha256": "37d1e3c74fcd6805c492da9048d2cc282d592ce5980bad2b0b8ee57a13fe9580",
"pose": [
3.8603493323619738,
-0.0775153834744502,
0.05417939709501774
],
"timestamp": 6082.299919703,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-006.jpg",
"sha256": "a9d56ecf20b0e0efe279f56b282c2ed478ea8e62602e30afaba8f6afc1aa93ac",
"pose": [
3.926337959114476,
-0.0752595774898237,
0.06121706003668681
],
"timestamp": 6083.099738691,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-007.jpg",
"sha256": "67e650e7643dd9ea82dbfba20b20dfc52f97981e804638959acd9a757b79b8ba",
"pose": [
4.01825438606604,
-0.06110866800952919,
0.04855457007822661
],
"timestamp": 6083.834324603,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-008.jpg",
"sha256": "035eb346ff097784932b5bb8d7933f51a41095dfafd1253d2d61c5bdf5560a0f",
"pose": [
4.090198595725652,
-0.059859347469977786,
0.07175732869900654
],
"timestamp": 6084.503161935,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-009.jpg",
"sha256": "97842bd737460eac256019a05595757ac2476656e57e3e73ab16a041ebf6a646",
"pose": [
4.144861482388943,
-0.04961570866016962,
0.06458311729481725
],
"timestamp": 6085.302913785,
"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": [
[
-0.0033333045430481434,
0.0008433073526248336,
-0.3185237348079681
],
[
0.1513817149668113,
-0.014023490947375837,
-0.04389619827270508
],
[
0.15041241523134047,
0.013413984402734141,
0.16106604039669037
],
[
0.14537548385728682,
0.006702932461298303,
0.1033976674079895
],
[
0.09103035461114303,
0.006566869662581231,
0.04675303027033806
],
[
0.0742632278788876,
0.0022356595562724804,
-0.007232077419757843
],
[
0.1275389050600929,
0.00040056203883255884,
-0.020387422293424606
],
[
0.10186951974432812,
-5.1770402530315965e-05,
-0.025284431874752045
],
[
0.08840521282553268,
0.0007083755653074387,
0.01016111671924591
],
[
0.11401789477230881,
-3.402885229232197e-05,
0.0033153966069221497
]
],
"stop": false,
"plan": null,
"raw": "<apos_1088><opos_603><act_l0_27><act_l1_47><act_l2_79><|im_end|>",
"waypoints": [
[
-0.0033333045430481434,
0.0008433073526248336,
-0.31852373480796814
],
[
0.136042058467865,
-0.05988222360610962,
-0.3624199330806732
],
[
0.2814396917819977,
-0.10066650807857513,
-0.20135389268398285
],
[
0.4252186715602875,
-0.12317351996898651,
-0.09795622527599335
],
[
0.5164548754692078,
-0.1255408674478531,
-0.05120319500565529
],
[
0.5907351970672607,
-0.12710899114608765,
-0.05843527242541313
],
[
0.7180798053741455,
-0.13415764272212982,
-0.07882269471883774
],
[
0.8196289539337158,
-0.1422305703163147,
-0.10410712659358978
],
[
0.907629132270813,
-0.1507130265235901,
-0.09394600987434387
],
[
1.0211410522460938,
-0.16144268214702606,
-0.09063061326742172
]
],
"pointing": {
"apos": 1088,
"opos": 603
},
"rvq_codes": [
27,
47,
79
],
"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": 244.97434869408607
},
"response": {
"type": "step",
"actions": [
[
-0.0033333045430481434,
0.0008433073526248336,
-0.3185237348079681
],
[
0.1513817149668113,
-0.014023490947375837,
-0.04389619827270508
],
[
0.15041241523134047,
0.013413984402734141,
0.16106604039669037
],
[
0.14537548385728682,
0.006702932461298303,
0.1033976674079895
],
[
0.09103035461114303,
0.006566869662581231,
0.04675303027033806
],
[
0.0742632278788876,
0.0022356595562724804,
-0.007232077419757843
],
[
0.1275389050600929,
0.00040056203883255884,
-0.020387422293424606
],
[
0.10186951974432812,
-5.1770402530315965e-05,
-0.025284431874752045
],
[
0.08840521282553268,
0.0007083755653074387,
0.01016111671924591
],
[
0.11401789477230881,
-3.402885229232197e-05,
0.0033153966069221497
],
[
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-20261018-204709-345165c8",
"inference_id": 6,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.534508562181145,
"peak_memory_bytes": 9566996480,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.5389856761321425
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
-0.0033333045430481434,
0.0008433073526248336,
-0.31852373480796803
],
[
0.13604205846786502,
-0.059882223606109605,
-0.3624199330806731
],
[
0.2814396917819977,
-0.1006665080785751,
-0.20135389268398274
],
[
0.4252186715602875,
-0.12317351996898648,
-0.09795622527599324
],
[
0.5164548754692079,
-0.12554086744785303,
-0.05120319500565518
],
[
0.5907351970672609,
-0.12710899114608756,
-0.058435272425413014
],
[
0.7180798053741456,
-0.13415764272212974,
-0.07882269471883763
],
[
0.8196289539337159,
-0.14223057031631461,
-0.10410712659358967
],
[
0.9076291322708131,
-0.15071302652359,
-0.09394600987434376
],
[
1.021141052246094,
-0.16144268214702598,
-0.09063061326742161
]
],
"observed_poses": [
[
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
[
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
[
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
[
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
[
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
[
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
[
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
[
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
[
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
[
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
[
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
[
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
[
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
[
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
[
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
[
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
[
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
[
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
[
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
[
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
[
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
[
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
[
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
[
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
[
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
[
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
[
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
[
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
[
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
[
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
[
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
[
2.270241298422187,
-0.06112211506924292,
-0.24090352035749385
],
[
2.368646192147315,
-0.08804302601339664,
-0.23075534939485287
],
[
2.4589484837494138,
-0.10269031219793057,
-0.04393505992907931
],
[
2.5475358144192306,
-0.09784969710269253,
0.035259272401918285
],
[
2.581368378410483,
-0.09504822280336422,
0.03958677200295746
],
[
2.5968167153883104,
-0.0963093264347441,
0.027914454439458503
],
[
2.67274884785974,
-0.08608946271051043,
0.01061967027129773
],
[
2.7608056928643685,
-0.08427653379925815,
0.034856857876613745
],
[
2.8408424671291854,
-0.07439410568042981,
0.05239597861119494
],
[
2.8987352156009587,
-0.0723723025946772,
0.07233754273512494
],
[
2.9245092906840995,
-0.06951708350230201,
0.08408137830217521
],
[
2.977762360085171,
-0.06267734984368323,
0.05777411810257771
],
[
3.020484858441846,
-0.06530771350926434,
-0.003985473129864747
],
[
3.0595798701261314,
-0.06602181206992497,
-0.07050934577274726
],
[
3.153287182146091,
-0.07108085419603949,
-0.05098389012427206
],
[
3.262321964577387,
-0.07394086059049454,
-0.05404126225088967
],
[
3.362854280402603,
-0.07594155329352681,
0.037318393478522616
],
[
3.458140235331716,
-0.06002255364132303,
0.12322366053472765
],
[
3.548447473625319,
-0.0453443453217639,
0.1582950661244289
],
[
3.544740084532514,
-0.046856400844280444,
0.1527901114425667
],
[
3.53685989995882,
-0.0553364021895284,
-0.15522267564965864
],
[
3.644578790072887,
-0.08481946198567791,
-0.20053508209603255
],
[
3.7417876569688957,
-0.08920600552110969,
-0.06403281466418687
],
[
3.838795647086378,
-0.08155253774272841,
0.029703906059650453
],
[
3.8604802962156177,
-0.07696111883076706,
0.05529183166871654
],
[
3.8603493323619738,
-0.0775153834744502,
0.05417939709501774
],
[
3.926337959114476,
-0.0752595774898237,
0.06121706003668681
],
[
4.01825438606604,
-0.06110866800952919,
0.04855457007822661
],
[
4.090198595725652,
-0.059859347469977786,
0.07175732869900654
],
[
4.144861482388943,
-0.04961570866016962,
0.06458311729481725
]
]
}
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-20261018-204709-345165c8/steps/000000/input-000.jpg",
"sha256": "0a35505900bcdc8288523d7889935389cff6c3f6776ffbdf893035c921d0ef30",
"pose": [
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
"timestamp": 6042.375119657,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-002.jpg",
"sha256": "a993f710bff3a2ac44a61e3c31bd2c8fdc6b715ba358f743aafca9c961f91408",
"pose": [
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
"timestamp": 6045.661557669,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-003.jpg",
"sha256": "e09366d2259e9eabe57a55de8c789e28b340af8326e797d8fa79f5e391699628",
"pose": [
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
"timestamp": 6046.395007801,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-004.jpg",
"sha256": "c01b72a2bf4ec339619d2763912e568fac45fd829a9f8301923ab8478d00a927",
"pose": [
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
"timestamp": 6047.063579332,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-005.jpg",
"sha256": "db22854ed6940773fdccf9cbab5f370022fc90e92c6fbfe75ecf179938512006",
"pose": [
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
"timestamp": 6047.596610246,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-006.jpg",
"sha256": "27d31d63d5b5af3354bc32c810df4609449f43b9a5e8f927698e707823aeb3a6",
"pose": [
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
"timestamp": 6048.332975863,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-007.jpg",
"sha256": "10dd064a72b584d22fda1f53ff52203799b92acf0610b35743f1d0db68f3bf1b",
"pose": [
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
"timestamp": 6049.002041618,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-008.jpg",
"sha256": "6f6224f6afe9286ab424f38aa78310b1147dcf32aeae26ee0aa96a92b548a7ac",
"pose": [
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
"timestamp": 6049.733467366,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-000.jpg",
"sha256": "dda4dd8e491f8b6b523ba12677fd8747994520f387e75a40530eeb32f79c5892",
"pose": [
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
"timestamp": 6051.468788107,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-001.jpg",
"sha256": "3af9d8fad94e54ed92094cb68080b212f90c960d156d10db6b0d6826eb46461c",
"pose": [
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
"timestamp": 6052.071391467,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-002.jpg",
"sha256": "e533d400b818bd2ea087ef80d970e0af0f8d1a3a1b83efa1b25bcd98aae136b5",
"pose": [
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
"timestamp": 6052.601488849,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-003.jpg",
"sha256": "9dad0f7974d5e7d7058da3af0986f8ba54802e4803a2c742e5cf86d4bf6bfbe7",
"pose": [
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
"timestamp": 6053.069268254,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-004.jpg",
"sha256": "bd497dd1005617195d972ea51b556dc2cbfcef9dffa6e0043b54e4041b988af5",
"pose": [
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
"timestamp": 6053.605105562,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-005.jpg",
"sha256": "e5b8290a89a8d6eff49c0a12097c26863ff2953fdc2ff209e749989e739b65ab",
"pose": [
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
"timestamp": 6054.139260384,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-006.jpg",
"sha256": "a86a4b45ed0872754fc9b3dcd7116eeae182580a7307bcbb8e642331b407ef0b",
"pose": [
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
"timestamp": 6054.737259918,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-007.jpg",
"sha256": "99f0d667754f1e1e5d1b96f430b6df02c4a53af7fab2a8899254b832f8a398d8",
"pose": [
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
"timestamp": 6055.471598014,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-008.jpg",
"sha256": "7f185a418db16ac73329099b3fcb1e1cf84bd0ae1d0e74e66767995551182a9a",
"pose": [
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
"timestamp": 6056.139462483,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-009.jpg",
"sha256": "14eea9d12aacd8c0c383d85d15aefff5ddedb5e937bbd1de094bb446f482d5df",
"pose": [
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
"timestamp": 6056.874144398,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-000.jpg",
"sha256": "34d27f45ece04447a7b1cc4311c2888f0ac65731bf0e3a51cdf247512f121261",
"pose": [
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
"timestamp": 6057.807649416,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-001.jpg",
"sha256": "c6469c0a8f8bd6c4055ed242ff02dc0ba83aee2241889c0cd1d773b9c0489767",
"pose": [
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
"timestamp": 6058.341547974,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-002.jpg",
"sha256": "c7c1770b9f6979b1194c9c0c3e0255fbc51936578ce8837b3ca331ac617cead9",
"pose": [
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
"timestamp": 6059.012165586,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-003.jpg",
"sha256": "1184020b85a5e844ae8a1bf5413142e8d407c4c11b9eb90812512bb859e24eca",
"pose": [
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
"timestamp": 6059.877591518,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-004.jpg",
"sha256": "f2bc729e127eba548cceb2bbd6995d3f9f83568803398ddb7b644a754b26c122",
"pose": [
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
"timestamp": 6060.411071599,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-005.jpg",
"sha256": "d40d6bced09430cb6d395569d2af2467040a655c3f96b61e0060e2278c95a346",
"pose": [
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
"timestamp": 6060.947078288,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-006.jpg",
"sha256": "2771e11a82e50f375f2e89c249c212dc0d82a01234ed00f200b307902edaa88a",
"pose": [
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
"timestamp": 6061.544604911,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-007.jpg",
"sha256": "accebd5fa61aa76e5b785895bd2d90976fbf598b2eea5ba28bb2709dc8a022e3",
"pose": [
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
"timestamp": 6062.21123654,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-008.jpg",
"sha256": "663c8c425227a25cd1e3e85d193190edcfc0f2270764e8711b17bc25720e5946",
"pose": [
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
"timestamp": 6062.882077936,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-009.jpg",
"sha256": "f86b69b1076c2ba35c7a1b42b725a661c43b2438bd73ff5cb82fae513c3cb44d",
"pose": [
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
"timestamp": 6063.480914136,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-000.jpg",
"sha256": "93d65d5da6e1ce6ec1e5b459e375851613adb541def43e73f70c99fd78635068",
"pose": [
2.270241298422187,
-0.06112211506924292,
-0.24090352035749385
],
"timestamp": 6065.149390039,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-001.jpg",
"sha256": "e13be988e82db3c7c20b403be5dabcce29daece837211f8998536579618cdd4d",
"pose": [
2.368646192147315,
-0.08804302601339664,
-0.23075534939485287
],
"timestamp": 6065.948933178,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-002.jpg",
"sha256": "9d826a4da9123114d115717a3e97509f9498fc0364082adb3f9894a45d2f320a",
"pose": [
2.4589484837494138,
-0.10269031219793057,
-0.04393505992907931
],
"timestamp": 6066.683982721,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-003.jpg",
"sha256": "90095d3b4e6d8879961854f9a95b8bc1df5981f4c518050b148b502c4dd44302",
"pose": [
2.5475358144192306,
-0.09784969710269253,
0.035259272401918285
],
"timestamp": 6067.756826461,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-004.jpg",
"sha256": "ae7ab96c02753ef481de679cc45c07ae0a44049624d2e4720064e2698bee6938",
"pose": [
2.581368378410483,
-0.09504822280336422,
0.03958677200295746
],
"timestamp": 6068.353836427,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-005.jpg",
"sha256": "d9efb834f172cbcb3af2bbdf05bc81ff962bb76164c01260bba57f752dbbae06",
"pose": [
2.5968167153883104,
-0.0963093264347441,
0.027914454439458503
],
"timestamp": 6068.686607969,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-006.jpg",
"sha256": "268f369edfec07dee688e17c959b3e68e27522cf2ad050ff4db0725c015017a6",
"pose": [
2.67274884785974,
-0.08608946271051043,
0.01061967027129773
],
"timestamp": 6069.620025624,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-007.jpg",
"sha256": "204d9fd66a8383a42ab732ae81e2b95c3c82836a2d5cde8f35b28f254ca5dc16",
"pose": [
2.7608056928643685,
-0.08427653379925815,
0.034856857876613745
],
"timestamp": 6070.153283362,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-008.jpg",
"sha256": "db7fea6f531a48b2823854ebf4f9ebcce0693589842dd8891dc3e5908812c710",
"pose": [
2.8408424671291854,
-0.07439410568042981,
0.05239597861119494
],
"timestamp": 6070.754094089,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-009.jpg",
"sha256": "57585eaf580d43e79fd68b2287c22fdcfed24e20558dca6743bf6908cb89761a",
"pose": [
2.8987352156009587,
-0.0723723025946772,
0.07233754273512494
],
"timestamp": 6071.288957509,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-000.jpg",
"sha256": "034447f0fa8e4a7de850b0cd94f03ef6e355274188e3ed10412069fb2f576465",
"pose": [
2.9245092906840995,
-0.06951708350230201,
0.08408137830217521
],
"timestamp": 6072.363456982,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-001.jpg",
"sha256": "bc75c627351a5b361f17b0387f82eaf3de80767228999a63dddbebced47a53b9",
"pose": [
2.977762360085171,
-0.06267734984368323,
0.05777411810257771
],
"timestamp": 6072.958594729,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-002.jpg",
"sha256": "1cfa4194e5fa58efdb9ffdba8e66da32369c2535493b69e37486ae071e4c619b",
"pose": [
3.020484858441846,
-0.06530771350926434,
-0.003985473129864747
],
"timestamp": 6073.359989502,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-003.jpg",
"sha256": "bb0625bcb2483ef8fdbee736d3dd6c3567d1351b564b857631245d69524750df",
"pose": [
3.0595798701261314,
-0.06602181206992497,
-0.07050934577274726
],
"timestamp": 6073.823872432,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-004.jpg",
"sha256": "c0b454d16c132e19fbfa61b552942b04cc90fabd90a8b924e9a43df3bf7dd3b7",
"pose": [
3.153287182146091,
-0.07108085419603949,
-0.05098389012427206
],
"timestamp": 6074.626031942,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-005.jpg",
"sha256": "bfaac0c361c1437b569dce1db7b6415878e9a8adfb291f2b6b4ba65749be481f",
"pose": [
3.262321964577387,
-0.07394086059049454,
-0.05404126225088967
],
"timestamp": 6075.423806098,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-006.jpg",
"sha256": "398f745d03a6ad71ca2978cc70dfe70f06226a1276e275759f21fc8dd942a0ee",
"pose": [
3.362854280402603,
-0.07594155329352681,
0.037318393478522616
],
"timestamp": 6076.160236868,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-007.jpg",
"sha256": "45fba6450f7260b4506a5e02405ad7a301a671be8d3aeaf10e809e9c6e7d6c88",
"pose": [
3.458140235331716,
-0.06002255364132303,
0.12322366053472765
],
"timestamp": 6076.895781659,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-008.jpg",
"sha256": "f3e382936c7f0346ffdec9107120a7925dbe1319335f4c493c950df79fcdcdd9",
"pose": [
3.548447473625319,
-0.0453443453217639,
0.1582950661244289
],
"timestamp": 6077.493032209,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-009.jpg",
"sha256": "ae87f239dedf383f617d9767851c2c2879d8d3a4dba7892c2edfb66615fe244b",
"pose": [
3.544740084532514,
-0.046856400844280444,
0.1527901114425667
],
"timestamp": 6077.629279697,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-000.jpg",
"sha256": "62ba9f6b6100a5a9cab49fa4a43fb69e0c14bf5842d28748948d279970239ca6",
"pose": [
3.53685989995882,
-0.0553364021895284,
-0.15522267564965864
],
"timestamp": 6079.366389263,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-001.jpg",
"sha256": "39fb78e5fa7ac06e6e31234f046bf0aee7cac8ec6c8467f992ec0c76787b49f6",
"pose": [
3.644578790072887,
-0.08481946198567791,
-0.20053508209603255
],
"timestamp": 6080.163577992,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-002.jpg",
"sha256": "f9080c539bebc8a40678023e2f412d395f7bada956ffe511e87403956b504526",
"pose": [
3.7417876569688957,
-0.08920600552110969,
-0.06403281466418687
],
"timestamp": 6081.098817017,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-003.jpg",
"sha256": "6b0f27c0e410715685b8fd651c505c72a4eb8822e1b20dcce9129dc42e20801e",
"pose": [
3.838795647086378,
-0.08155253774272841,
0.029703906059650453
],
"timestamp": 6081.898912142,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-004.jpg",
"sha256": "e881b30b16c116c6511d5d6976b6f62b559f9abfafe8814c4dc96fe96304f890",
"pose": [
3.8604802962156177,
-0.07696111883076706,
0.05529183166871654
],
"timestamp": 6082.16672396,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-005.jpg",
"sha256": "37d1e3c74fcd6805c492da9048d2cc282d592ce5980bad2b0b8ee57a13fe9580",
"pose": [
3.8603493323619738,
-0.0775153834744502,
0.05417939709501774
],
"timestamp": 6082.299919703,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-006.jpg",
"sha256": "a9d56ecf20b0e0efe279f56b282c2ed478ea8e62602e30afaba8f6afc1aa93ac",
"pose": [
3.926337959114476,
-0.0752595774898237,
0.06121706003668681
],
"timestamp": 6083.099738691,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-007.jpg",
"sha256": "67e650e7643dd9ea82dbfba20b20dfc52f97981e804638959acd9a757b79b8ba",
"pose": [
4.01825438606604,
-0.06110866800952919,
0.04855457007822661
],
"timestamp": 6083.834324603,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-008.jpg",
"sha256": "035eb346ff097784932b5bb8d7933f51a41095dfafd1253d2d61c5bdf5560a0f",
"pose": [
4.090198595725652,
-0.059859347469977786,
0.07175732869900654
],
"timestamp": 6084.503161935,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-009.jpg",
"sha256": "97842bd737460eac256019a05595757ac2476656e57e3e73ab16a041ebf6a646",
"pose": [
4.144861482388943,
-0.04961570866016962,
0.06458311729481725
],
"timestamp": 6085.302913785,
"observation_id": 60
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-000.jpg",
"sha256": "367c4da7dc0e1764f024fd764949608d7b7bc5e8e2f1db3f96c9a8043c6c359b",
"pose": [
4.142861240219408,
-0.04723939153594303,
-0.1816219061499944
],
"timestamp": 6087.635915138,
"observation_id": 61
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-001.jpg",
"sha256": "422ef51e6fe5e4520c29ba2727f03f383f3c6597d90b4033594166e7e7f575b6",
"pose": [
4.244118488973319,
-0.07757996268948952,
-0.17439835138981064
],
"timestamp": 6088.372161007,
"observation_id": 62
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-002.jpg",
"sha256": "8eb5f07ea8311259813c780dfeb539e6497a72eba642cff475b0cae31ecc0ce1",
"pose": [
4.353050794629695,
-0.08169116070776905,
-0.04205369311806795
],
"timestamp": 6089.172506348,
"observation_id": 63
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-003.jpg",
"sha256": "4460886fe47d039b77863904a7e14d1ae603c354c70daee4c95aa0f9c0e8ef02",
"pose": [
4.452566195382232,
-0.08589349404708191,
0.040568301055671
],
"timestamp": 6089.908081219,
"observation_id": 64
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-004.jpg",
"sha256": "85b018eda743148dfe0811e3f6f3a23d89d0586a17f842d65b62b0f473e9654e",
"pose": [
4.499591932873329,
-0.07634599933718578,
0.08080464474517335
],
"timestamp": 6090.441085861,
"observation_id": 65
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-005.jpg",
"sha256": "4e4c10051dfc3d345112ce32b2d36ca79ee04f3bda346df4acdb0fd03b430838",
"pose": [
4.524116421848041,
-0.07336388836784824,
0.08309872015796982
],
"timestamp": 6090.973805437,
"observation_id": 66
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-006.jpg",
"sha256": "74cd94bba82ff227b5f1e7f2aecca1c397c5d83695a725d160b3910040a2434b",
"pose": [
4.60475866739493,
-0.06567576128819441,
0.09364808925004241
],
"timestamp": 6091.708632765,
"observation_id": 67
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-007.jpg",
"sha256": "5ab0b1350afabbc6ed2b971d3168d1afcfba4271dec7b2522cb18e46b716f256",
"pose": [
4.662400047800984,
-0.056137257643112726,
0.09118621444141128
],
"timestamp": 6092.242030379,
"observation_id": 68
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-008.jpg",
"sha256": "562dd5d95f264b82bdbea5f1b07657e185a4a99e38360e9b84baba933a6579ad",
"pose": [
4.70910462887519,
-0.05168602499754327,
0.1063010376623903
],
"timestamp": 6092.708505775,
"observation_id": 69
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-009.jpg",
"sha256": "7bc6ae9d27cc8ca0ca25c2914cd635ca368eb893acea8187012925da237b1757",
"pose": [
4.7689618661096045,
-0.04421051284009181,
0.12832175487694775
],
"timestamp": 6094.311698968,
"observation_id": 70
}
],
"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,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
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": 2.333001353000327,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
3,
4,
9,
10,
15,
16,
21,
22,
27,
28,
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
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
3,
4,
9,
10,
15,
16,
21,
22,
27,
28,
33,
34
],
"tensor": "processed/segment1.pt",
"shape": [
12,
3,
256,
448
]
},
{
"indices": [
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
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
67,
68
],
"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:<16.9 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,
21,
13,
24,
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:<16.9 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-20261018-204709-345165c8/steps/000001/input-000.jpg",
"sha256": "174b334d30a6264dc0352bad25c75516ece30dbe7458d751dad3dfc3da6f0279",
"pose": [
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
"timestamp": 6044.263435777,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-001.jpg",
"sha256": "af886de1de7447cbeaab50f879c2efaada0a541207c1073b8e604de1d8afb9e7",
"pose": [
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
"timestamp": 6044.928807303,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-003.jpg",
"sha256": "e09366d2259e9eabe57a55de8c789e28b340af8326e797d8fa79f5e391699628",
"pose": [
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
"timestamp": 6046.395007801,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-004.jpg",
"sha256": "c01b72a2bf4ec339619d2763912e568fac45fd829a9f8301923ab8478d00a927",
"pose": [
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
"timestamp": 6047.063579332,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000001/input-009.jpg",
"sha256": "f6e8243c16ae4c82535be46c7593d57254f91e855325703932aabf3348fcb0f1",
"pose": [
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
"timestamp": 6050.334045477,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-000.jpg",
"sha256": "dda4dd8e491f8b6b523ba12677fd8747994520f387e75a40530eeb32f79c5892",
"pose": [
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
"timestamp": 6051.468788107,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-005.jpg",
"sha256": "e5b8290a89a8d6eff49c0a12097c26863ff2953fdc2ff209e749989e739b65ab",
"pose": [
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
"timestamp": 6054.139260384,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000002/input-006.jpg",
"sha256": "a86a4b45ed0872754fc9b3dcd7116eeae182580a7307bcbb8e642331b407ef0b",
"pose": [
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
"timestamp": 6054.737259918,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-001.jpg",
"sha256": "c6469c0a8f8bd6c4055ed242ff02dc0ba83aee2241889c0cd1d773b9c0489767",
"pose": [
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
"timestamp": 6058.341547974,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-002.jpg",
"sha256": "c7c1770b9f6979b1194c9c0c3e0255fbc51936578ce8837b3ca331ac617cead9",
"pose": [
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
"timestamp": 6059.012165586,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-007.jpg",
"sha256": "accebd5fa61aa76e5b785895bd2d90976fbf598b2eea5ba28bb2709dc8a022e3",
"pose": [
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
"timestamp": 6062.21123654,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000003/input-008.jpg",
"sha256": "663c8c425227a25cd1e3e85d193190edcfc0f2270764e8711b17bc25720e5946",
"pose": [
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
"timestamp": 6062.882077936,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-003.jpg",
"sha256": "90095d3b4e6d8879961854f9a95b8bc1df5981f4c518050b148b502c4dd44302",
"pose": [
2.5475358144192306,
-0.09784969710269253,
0.035259272401918285
],
"timestamp": 6067.756826461,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-004.jpg",
"sha256": "ae7ab96c02753ef481de679cc45c07ae0a44049624d2e4720064e2698bee6938",
"pose": [
2.581368378410483,
-0.09504822280336422,
0.03958677200295746
],
"timestamp": 6068.353836427,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-005.jpg",
"sha256": "d9efb834f172cbcb3af2bbdf05bc81ff962bb76164c01260bba57f752dbbae06",
"pose": [
2.5968167153883104,
-0.0963093264347441,
0.027914454439458503
],
"timestamp": 6068.686607969,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-006.jpg",
"sha256": "268f369edfec07dee688e17c959b3e68e27522cf2ad050ff4db0725c015017a6",
"pose": [
2.67274884785974,
-0.08608946271051043,
0.01061967027129773
],
"timestamp": 6069.620025624,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-007.jpg",
"sha256": "204d9fd66a8383a42ab732ae81e2b95c3c82836a2d5cde8f35b28f254ca5dc16",
"pose": [
2.7608056928643685,
-0.08427653379925815,
0.034856857876613745
],
"timestamp": 6070.153283362,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-008.jpg",
"sha256": "db7fea6f531a48b2823854ebf4f9ebcce0693589842dd8891dc3e5908812c710",
"pose": [
2.8408424671291854,
-0.07439410568042981,
0.05239597861119494
],
"timestamp": 6070.754094089,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000004/input-009.jpg",
"sha256": "57585eaf580d43e79fd68b2287c22fdcfed24e20558dca6743bf6908cb89761a",
"pose": [
2.8987352156009587,
-0.0723723025946772,
0.07233754273512494
],
"timestamp": 6071.288957509,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-000.jpg",
"sha256": "034447f0fa8e4a7de850b0cd94f03ef6e355274188e3ed10412069fb2f576465",
"pose": [
2.9245092906840995,
-0.06951708350230201,
0.08408137830217521
],
"timestamp": 6072.363456982,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-001.jpg",
"sha256": "bc75c627351a5b361f17b0387f82eaf3de80767228999a63dddbebced47a53b9",
"pose": [
2.977762360085171,
-0.06267734984368323,
0.05777411810257771
],
"timestamp": 6072.958594729,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-002.jpg",
"sha256": "1cfa4194e5fa58efdb9ffdba8e66da32369c2535493b69e37486ae071e4c619b",
"pose": [
3.020484858441846,
-0.06530771350926434,
-0.003985473129864747
],
"timestamp": 6073.359989502,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-003.jpg",
"sha256": "bb0625bcb2483ef8fdbee736d3dd6c3567d1351b564b857631245d69524750df",
"pose": [
3.0595798701261314,
-0.06602181206992497,
-0.07050934577274726
],
"timestamp": 6073.823872432,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-004.jpg",
"sha256": "c0b454d16c132e19fbfa61b552942b04cc90fabd90a8b924e9a43df3bf7dd3b7",
"pose": [
3.153287182146091,
-0.07108085419603949,
-0.05098389012427206
],
"timestamp": 6074.626031942,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-005.jpg",
"sha256": "bfaac0c361c1437b569dce1db7b6415878e9a8adfb291f2b6b4ba65749be481f",
"pose": [
3.262321964577387,
-0.07394086059049454,
-0.05404126225088967
],
"timestamp": 6075.423806098,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-006.jpg",
"sha256": "398f745d03a6ad71ca2978cc70dfe70f06226a1276e275759f21fc8dd942a0ee",
"pose": [
3.362854280402603,
-0.07594155329352681,
0.037318393478522616
],
"timestamp": 6076.160236868,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-007.jpg",
"sha256": "45fba6450f7260b4506a5e02405ad7a301a671be8d3aeaf10e809e9c6e7d6c88",
"pose": [
3.458140235331716,
-0.06002255364132303,
0.12322366053472765
],
"timestamp": 6076.895781659,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000005/input-009.jpg",
"sha256": "ae87f239dedf383f617d9767851c2c2879d8d3a4dba7892c2edfb66615fe244b",
"pose": [
3.544740084532514,
-0.046856400844280444,
0.1527901114425667
],
"timestamp": 6077.629279697,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-000.jpg",
"sha256": "62ba9f6b6100a5a9cab49fa4a43fb69e0c14bf5842d28748948d279970239ca6",
"pose": [
3.53685989995882,
-0.0553364021895284,
-0.15522267564965864
],
"timestamp": 6079.366389263,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-001.jpg",
"sha256": "39fb78e5fa7ac06e6e31234f046bf0aee7cac8ec6c8467f992ec0c76787b49f6",
"pose": [
3.644578790072887,
-0.08481946198567791,
-0.20053508209603255
],
"timestamp": 6080.163577992,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-002.jpg",
"sha256": "f9080c539bebc8a40678023e2f412d395f7bada956ffe511e87403956b504526",
"pose": [
3.7417876569688957,
-0.08920600552110969,
-0.06403281466418687
],
"timestamp": 6081.098817017,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-003.jpg",
"sha256": "6b0f27c0e410715685b8fd651c505c72a4eb8822e1b20dcce9129dc42e20801e",
"pose": [
3.838795647086378,
-0.08155253774272841,
0.029703906059650453
],
"timestamp": 6081.898912142,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-004.jpg",
"sha256": "e881b30b16c116c6511d5d6976b6f62b559f9abfafe8814c4dc96fe96304f890",
"pose": [
3.8604802962156177,
-0.07696111883076706,
0.05529183166871654
],
"timestamp": 6082.16672396,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-005.jpg",
"sha256": "37d1e3c74fcd6805c492da9048d2cc282d592ce5980bad2b0b8ee57a13fe9580",
"pose": [
3.8603493323619738,
-0.0775153834744502,
0.05417939709501774
],
"timestamp": 6082.299919703,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-006.jpg",
"sha256": "a9d56ecf20b0e0efe279f56b282c2ed478ea8e62602e30afaba8f6afc1aa93ac",
"pose": [
3.926337959114476,
-0.0752595774898237,
0.06121706003668681
],
"timestamp": 6083.099738691,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-007.jpg",
"sha256": "67e650e7643dd9ea82dbfba20b20dfc52f97981e804638959acd9a757b79b8ba",
"pose": [
4.01825438606604,
-0.06110866800952919,
0.04855457007822661
],
"timestamp": 6083.834324603,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-008.jpg",
"sha256": "035eb346ff097784932b5bb8d7933f51a41095dfafd1253d2d61c5bdf5560a0f",
"pose": [
4.090198595725652,
-0.059859347469977786,
0.07175732869900654
],
"timestamp": 6084.503161935,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000006/input-009.jpg",
"sha256": "97842bd737460eac256019a05595757ac2476656e57e3e73ab16a041ebf6a646",
"pose": [
4.144861482388943,
-0.04961570866016962,
0.06458311729481725
],
"timestamp": 6085.302913785,
"observation_id": 60
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-000.jpg",
"sha256": "367c4da7dc0e1764f024fd764949608d7b7bc5e8e2f1db3f96c9a8043c6c359b",
"pose": [
4.142861240219408,
-0.04723939153594303,
-0.1816219061499944
],
"timestamp": 6087.635915138,
"observation_id": 61
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-001.jpg",
"sha256": "422ef51e6fe5e4520c29ba2727f03f383f3c6597d90b4033594166e7e7f575b6",
"pose": [
4.244118488973319,
-0.07757996268948952,
-0.17439835138981064
],
"timestamp": 6088.372161007,
"observation_id": 62
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-002.jpg",
"sha256": "8eb5f07ea8311259813c780dfeb539e6497a72eba642cff475b0cae31ecc0ce1",
"pose": [
4.353050794629695,
-0.08169116070776905,
-0.04205369311806795
],
"timestamp": 6089.172506348,
"observation_id": 63
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-003.jpg",
"sha256": "4460886fe47d039b77863904a7e14d1ae603c354c70daee4c95aa0f9c0e8ef02",
"pose": [
4.452566195382232,
-0.08589349404708191,
0.040568301055671
],
"timestamp": 6089.908081219,
"observation_id": 64
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-004.jpg",
"sha256": "85b018eda743148dfe0811e3f6f3a23d89d0586a17f842d65b62b0f473e9654e",
"pose": [
4.499591932873329,
-0.07634599933718578,
0.08080464474517335
],
"timestamp": 6090.441085861,
"observation_id": 65
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-005.jpg",
"sha256": "4e4c10051dfc3d345112ce32b2d36ca79ee04f3bda346df4acdb0fd03b430838",
"pose": [
4.524116421848041,
-0.07336388836784824,
0.08309872015796982
],
"timestamp": 6090.973805437,
"observation_id": 66
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-006.jpg",
"sha256": "74cd94bba82ff227b5f1e7f2aecca1c397c5d83695a725d160b3910040a2434b",
"pose": [
4.60475866739493,
-0.06567576128819441,
0.09364808925004241
],
"timestamp": 6091.708632765,
"observation_id": 67
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-007.jpg",
"sha256": "5ab0b1350afabbc6ed2b971d3168d1afcfba4271dec7b2522cb18e46b716f256",
"pose": [
4.662400047800984,
-0.056137257643112726,
0.09118621444141128
],
"timestamp": 6092.242030379,
"observation_id": 68
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-008.jpg",
"sha256": "562dd5d95f264b82bdbea5f1b07657e185a4a99e38360e9b84baba933a6579ad",
"pose": [
4.70910462887519,
-0.05168602499754327,
0.1063010376623903
],
"timestamp": 6092.708505775,
"observation_id": 69
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-204709-345165c8/steps/000007/input-009.jpg",
"sha256": "7bc6ae9d27cc8ca0ca25c2914cd635ca368eb893acea8187012925da237b1757",
"pose": [
4.7689618661096045,
-0.04421051284009181,
0.12832175487694775
],
"timestamp": 6094.311698968,
"observation_id": 70
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<16.9 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": [
[
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_463><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": 463
},
"rvq_codes": [
6,
122,
174
],
"model_input": {
"history_indices": [
0,
1,
3,
4,
9,
10,
15,
16,
21,
22,
27,
28,
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
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
3,
4,
9,
10,
15,
16,
21,
22,
27,
28,
33,
34
],
"tensor": "processed/segment1.pt",
"shape": [
12,
3,
256,
448
]
},
{
"indices": [
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
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
67,
68
],
"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:<16.9 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,
21,
13,
24,
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:<16.9 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": 258.78961896523833
},
"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-20261018-204709-345165c8",
"inference_id": 7,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.6311944578774273,
"peak_memory_bytes": 9608091136,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 11047796736,
"load_count": 1,
"total_seconds": 0.6356106847524643
}
{
"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": [
[
-6.754919264490507e-05,
-2.8939861469823366e-05,
-0.00010125700808227833
],
[
0.0862604986981095,
-0.003581734736943336,
-0.08265348972620634
],
[
0.16301315882276451,
-0.010361591902458528,
-0.0872825960358381
],
[
0.22838601879459425,
-0.012504481848766305,
-0.07516316899725162
],
[
0.3091242637256054,
-0.017341997037122137,
-0.06046970839280963
],
[
0.3914170640128558,
-0.015991308754835815,
-0.06597357576567342
],
[
0.47541764156207833,
-0.02453351172443871,
-0.07115711999605523
],
[
0.5654672573658128,
-0.022973977598700734,
-0.07539842941549901
],
[
0.6596952415927861,
-0.028942203626655727,
-0.058510946356331583
],
[
0.7626632023559013,
-0.027772934141842676,
-0.01425109798143076
],
[
0.8541100329217637,
-0.028190182278820086,
-0.007502847500616472
],
[
0.9550594564304107,
-0.031107087436937186,
-0.1010351536345082
],
[
1.0391432853686147,
-0.03934644510721441,
-0.1614906264218692
],
[
1.0961821309049435,
-0.04408588621291959,
-0.1566200094522143
],
[
1.1223122008344597,
-0.047724770451839094,
-0.149124421781845
],
[
1.1604365214424308,
-0.05318536030705967,
-0.0997691780016785
],
[
1.20961052004691,
-0.047211711804115764,
-0.0750532209347039
],
[
1.2962091622624665,
-0.05422598008094959,
-0.06354662665357756
],
[
1.3957537261188953,
-0.05070171908176613,
-0.07861479119310566
],
[
1.4934975512680504,
-0.06003815623154729,
-0.06207866543308915
],
[
1.5837070316413544,
-0.058745214178893,
-0.06904091168229788
],
[
1.6653987996800717,
-0.06408780089899724,
-0.04060560596776597
],
[
1.7177922912347305,
-0.06326840535811529,
-0.027601883998319643
],
[
1.7572879315765735,
-0.06589112069137282,
-0.024644405895484223
],
[
1.8162202076702336,
-0.07012055645759152,
-0.015680073293593107
],
[
1.8810340319175882,
-0.06628183552991573,
-0.027184903466348057
],
[
1.955331237961094,
-0.06990952087244395,
-0.009460732615436118
],
[
2.0243511653538513,
-0.06358109744561946,
-0.007240202487222014
],
[
2.0977571591890416,
-0.0663154778968088,
0.01632741419086914
],
[
2.1823842844848667,
-0.057218876287425724,
0.003943606705488101
],
[
2.2742122023580738,
-0.06007671343210963,
0.015309297963789437
],
[
2.270241298422187,
-0.06112211506924292,
-0.24090352035749385
],
[
2.368646192147315,
-0.08804302601339664,
-0.23075534939485287
],
[
2.4589484837494138,
-0.10269031219793057,
-0.04393505992907931
],
[
2.5475358144192306,
-0.09784969710269253,
0.035259272401918285
],
[
2.581368378410483,
-0.09504822280336422,
0.03958677200295746
],
[
2.5968167153883104,
-0.0963093264347441,
0.027914454439458503
],
[
2.67274884785974,
-0.08608946271051043,
0.01061967027129773
],
[
2.7608056928643685,
-0.08427653379925815,
0.034856857876613745
],
[
2.8408424671291854,
-0.07439410568042981,
0.05239597861119494
],
[
2.8987352156009587,
-0.0723723025946772,
0.07233754273512494
],
[
2.9245092906840995,
-0.06951708350230201,
0.08408137830217521
],
[
2.977762360085171,
-0.06267734984368323,
0.05777411810257771
],
[
3.020484858441846,
-0.06530771350926434,
-0.003985473129864747
],
[
3.0595798701261314,
-0.06602181206992497,
-0.07050934577274726
],
[
3.153287182146091,
-0.07108085419603949,
-0.05098389012427206
],
[
3.262321964577387,
-0.07394086059049454,
-0.05404126225088967
],
[
3.362854280402603,
-0.07594155329352681,
0.037318393478522616
],
[
3.458140235331716,
-0.06002255364132303,
0.12322366053472765
],
[
3.548447473625319,
-0.0453443453217639,
0.1582950661244289
],
[
3.544740084532514,
-0.046856400844280444,
0.1527901114425667
],
[
3.53685989995882,
-0.0553364021895284,
-0.15522267564965864
],
[
3.644578790072887,
-0.08481946198567791,
-0.20053508209603255
],
[
3.7417876569688957,
-0.08920600552110969,
-0.06403281466418687
],
[
3.838795647086378,
-0.08155253774272841,
0.029703906059650453
],
[
3.8604802962156177,
-0.07696111883076706,
0.05529183166871654
],
[
3.8603493323619738,
-0.0775153834744502,
0.05417939709501774
],
[
3.926337959114476,
-0.0752595774898237,
0.06121706003668681
],
[
4.01825438606604,
-0.06110866800952919,
0.04855457007822661
],
[
4.090198595725652,
-0.059859347469977786,
0.07175732869900654
],
[
4.144861482388943,
-0.04961570866016962,
0.06458311729481725
],
[
4.142861240219408,
-0.04723939153594303,
-0.1816219061499944
],
[
4.244118488973319,
-0.07757996268948952,
-0.17439835138981064
],
[
4.353050794629695,
-0.08169116070776905,
-0.04205369311806795
],
[
4.452566195382232,
-0.08589349404708191,
0.040568301055671
],
[
4.499591932873329,
-0.07634599933718578,
0.08080464474517335
],
[
4.524116421848041,
-0.07336388836784824,
0.08309872015796982
],
[
4.60475866739493,
-0.06567576128819441,
0.09364808925004241
],
[
4.662400047800984,
-0.056137257643112726,
0.09118621444141128
],
[
4.70910462887519,
-0.05168602499754327,
0.1063010376623903
],
[
4.7689618661096045,
-0.04421051284009181,
0.12832175487694775
]
]
}