{
"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 streetsign, return to the orange fence you've seen before",
"client_plan": [
"go to the streetsign, return to the orange fence you've seen before"
],
"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": 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"
},
"status": "closed",
"started_at": 1792404102.3684227,
"units": "m_m_rad",
"robot_execution_tested": false,
"ended_at": 1792404161.458745,
"end_reason": "disconnect"
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the streetsign, return to the orange fence you've seen before",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000000/input-000.jpg",
"sha256": "534fa5425ae5b1e3acd9cf85cff40e250b5a4324a9687f17ea609f6c631672f2",
"pose": [
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
"timestamp": 9635.02579115,
"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 streetsign, return to the orange fence you've seen before</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,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
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 streetsign, return to the orange fence you've seen before</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,
204
],
"attention_mask": [
1,
204
],
"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,
204
],
"mm_token_type_ids": [
1,
204
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000000/input-000.jpg",
"sha256": "534fa5425ae5b1e3acd9cf85cff40e250b5a4324a9687f17ea609f6c631672f2",
"pose": [
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
"timestamp": 9635.02579115,
"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 streetsign, return to the orange fence you've seen before</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": [
[
0.14323671162128448,
0.028548428788781166,
0.16292519867420197
],
[
0.17512689312949434,
-0.00788551492768309,
-0.09114333242177963
],
[
0.15554539568619943,
-0.003670942876563935,
-0.04358888417482376
],
[
0.15487723166888576,
-0.003112100010353445,
-0.03469269722700119
],
[
0.15429293976108663,
0.0014920413065571854,
0.026996411383152008
],
[
0.1538711571005559,
0.0007485420350055124,
0.017908796668052673
],
[
0.15696395204745528,
0.002977813319089236,
0.0351506769657135
],
[
0.14557326260715023,
-0.00012493031316765206,
-0.003793969750404358
],
[
0.13319708886796075,
-0.0019096626491628662,
-0.036671996116638184
],
[
0.09070758205648254,
-0.0009879912135604594,
-0.028327331878244873
]
],
"stop": false,
"plan": null,
"raw": "<apos_984><opos_602><act_l0_242><act_l1_63><act_l2_122><|im_end|>",
"waypoints": [
[
0.14323671162128448,
0.028548428788781166,
0.16292519867420197
],
[
0.3173234760761261,
0.04917386174201965,
0.07178186625242233
],
[
0.4727315902709961,
0.056668125092983246,
0.028192982077598572
],
[
0.6276350021362305,
0.05792313441634178,
-0.006499715149402618
],
[
0.781934380531311,
0.05841229110956192,
0.02049669623374939
],
[
0.9357578754425049,
0.06231430545449257,
0.03840549290180206
],
[
1.0924917459487915,
0.07131671905517578,
0.07355616986751556
],
[
1.2376805543899536,
0.0818902850151062,
0.0697622001171112
],
[
1.3706867694854736,
0.08926985412836075,
0.03309020400047302
],
[
1.4613773822784424,
0.0912833884358406,
0.004762872122228146
]
],
"pointing": {
"apos": 984,
"opos": 602
},
"rvq_codes": [
242,
63,
122
],
"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 streetsign, return to the orange fence you've seen before</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,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
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 streetsign, return to the orange fence you've seen before</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,
204
],
"attention_mask": [
1,
204
],
"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,
204
],
"mm_token_type_ids": [
1,
204
]
}
},
"history_fps": 4
},
"native_latency_ms": 312.08781991153955
},
"response": {
"type": "step",
"actions": [
[
0.14323671162128448,
0.028548428788781166,
0.16292519867420197
],
[
0.17512689312949434,
-0.00788551492768309,
-0.09114333242177963
],
[
0.15554539568619943,
-0.003670942876563935,
-0.04358888417482376
],
[
0.15487723166888576,
-0.003112100010353445,
-0.03469269722700119
],
[
0.15429293976108663,
0.0014920413065571854,
0.026996411383152008
],
[
0.1538711571005559,
0.0007485420350055124,
0.017908796668052673
],
[
0.15696395204745528,
0.002977813319089236,
0.0351506769657135
],
[
0.14557326260715023,
-0.00012493031316765206,
-0.003793969750404358
],
[
0.13319708886796075,
-0.0019096626491628662,
-0.036671996116638184
],
[
0.09070758205648254,
-0.0009879912135604594,
-0.028327331878244873
],
[
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-20261019-180142-7992c767",
"inference_id": 0,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.3310410091653466,
"peak_memory_bytes": 9157943808,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 12008292352,
"load_count": 1,
"total_seconds": 0.3327195658348501
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.14323671162128448,
0.028548428788781166,
0.16292519867420197
],
[
0.31732347607612615,
0.04917386174201965,
0.07178186625242233
],
[
0.47273159027099615,
0.056668125092983246,
0.028192982077598572
],
[
0.6276350021362305,
0.05792313441634178,
-0.006499715149402618
],
[
0.781934380531311,
0.05841229110956192,
0.02049669623374939
],
[
0.9357578754425049,
0.06231430545449257,
0.03840549290180206
],
[
1.0924917459487917,
0.07131671905517578,
0.07355616986751556
],
[
1.2376805543899538,
0.0818902850151062,
0.0697622001171112
],
[
1.3706867694854739,
0.08926985412836075,
0.033090204000473016
],
[
1.4613773822784426,
0.0912833884358406,
0.004762872122228141
]
],
"observed_poses": [
[
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the streetsign, return to the orange fence you've seen before",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000000/input-000.jpg",
"sha256": "534fa5425ae5b1e3acd9cf85cff40e250b5a4324a9687f17ea609f6c631672f2",
"pose": [
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
"timestamp": 9635.02579115,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-002.jpg",
"sha256": "7da9eb8a0cdcc11b1fae27f1970a216d1460c3fc766aebcaf3991e62a8c68973",
"pose": [
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
"timestamp": 9637.748685199,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-003.jpg",
"sha256": "a0d69af424df4f9cc660566651aba36d7ee34c0bef58c8ceea3c196d6a962433",
"pose": [
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
"timestamp": 9638.549616941,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-006.jpg",
"sha256": "450036af09b36864a4bbb2118dca262751e66aec971a0e9d011bfeedcf984c75",
"pose": [
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
"timestamp": 9641.555446458,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-007.jpg",
"sha256": "16b3abb7a8a1c010fd9dc48283930752cde726d500dfdf7a2b10eb6174e20885",
"pose": [
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
"timestamp": 9642.288625843,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-008.jpg",
"sha256": "727c831169c360b697eef85443e0f07e37684dbebe41c90ce526a38dbd70fcd2",
"pose": [
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
"timestamp": 9643.486326663,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-009.jpg",
"sha256": "8284abd20da3c188f286a073ce94dcabaffd21b9ae2a8f6ad813e001fb3b4a42",
"pose": [
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
"timestamp": 9644.022417332,
"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": 1.3997674790007295,
"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 streetsign, return to the orange fence you've seen before</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,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
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 streetsign, return to the orange fence you've seen before</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,
348
],
"attention_mask": [
1,
348
],
"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,
348
],
"mm_token_type_ids": [
1,
348
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-002.jpg",
"sha256": "7da9eb8a0cdcc11b1fae27f1970a216d1460c3fc766aebcaf3991e62a8c68973",
"pose": [
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
"timestamp": 9637.748685199,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-003.jpg",
"sha256": "a0d69af424df4f9cc660566651aba36d7ee34c0bef58c8ceea3c196d6a962433",
"pose": [
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
"timestamp": 9638.549616941,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-006.jpg",
"sha256": "450036af09b36864a4bbb2118dca262751e66aec971a0e9d011bfeedcf984c75",
"pose": [
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
"timestamp": 9641.555446458,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-007.jpg",
"sha256": "16b3abb7a8a1c010fd9dc48283930752cde726d500dfdf7a2b10eb6174e20885",
"pose": [
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
"timestamp": 9642.288625843,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-008.jpg",
"sha256": "727c831169c360b697eef85443e0f07e37684dbebe41c90ce526a38dbd70fcd2",
"pose": [
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
"timestamp": 9643.486326663,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-009.jpg",
"sha256": "8284abd20da3c188f286a073ce94dcabaffd21b9ae2a8f6ad813e001fb3b4a42",
"pose": [
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
"timestamp": 9644.022417332,
"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 streetsign, return to the orange fence you've seen before</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": [
[
0.15018942952156067,
0.013435296714305878,
0.10487789660692215
],
[
0.11657603880193594,
0.0038730274961518048,
0.06342878192663193
],
[
0.10510280189819163,
0.002410410462361307,
0.0025687962770462036
],
[
0.11441279001251024,
-0.00439165742988349,
-0.038796037435531616
],
[
0.12049374562963164,
-0.005984747338032987,
-0.08257770910859108
],
[
0.11593042595702227,
-0.0037748511777170378,
-0.04027532879263163
],
[
0.10631135727597098,
-0.0026442819988579686,
-0.03996275831013918
],
[
0.12576764476216973,
-0.002042948119257123,
-0.01421397365629673
],
[
0.1348955034310699,
-0.0012375563840235776,
-0.0067194364964962006
],
[
0.06794608025148297,
-0.00022932678312786049,
0.053611125564202666
]
],
"stop": false,
"plan": null,
"raw": "<apos_936><opos_717><act_l0_204><act_l1_74><act_l2_88><|im_end|>",
"waypoints": [
[
0.15018942952156067,
0.013435296714305878,
0.10487789660692215
],
[
0.265719473361969,
0.029490891844034195,
0.16830667853355408
],
[
0.36893337965011597,
0.0494733490049839,
0.17087547481060028
],
[
0.4824266731739044,
0.06460098922252655,
0.13207943737506866
],
[
0.6026591062545776,
0.07453688234090805,
0.049501728266477585
],
[
0.718634307384491,
0.07650306820869446,
0.009226399473845959
],
[
0.8249655365943909,
0.0748397558927536,
-0.03073635883629322
],
[
0.9506109952926636,
0.06893274188041687,
-0.04495033249258995
],
[
1.0853146314620972,
0.06163487955927849,
-0.05166976898908615
],
[
1.153158187866211,
0.05789666250348091,
0.0019413565751165152
]
],
"pointing": {
"apos": 936,
"opos": 717
},
"rvq_codes": [
204,
74,
88
],
"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 streetsign, return to the orange fence you've seen before</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,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
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 streetsign, return to the orange fence you've seen before</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,
348
],
"attention_mask": [
1,
348
],
"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,
348
],
"mm_token_type_ids": [
1,
348
]
}
},
"history_fps": 4
},
"native_latency_ms": 211.55069116503
},
"response": {
"type": "step",
"actions": [
[
0.15018942952156067,
0.013435296714305878,
0.10487789660692215
],
[
0.11657603880193594,
0.0038730274961518048,
0.06342878192663193
],
[
0.10510280189819163,
0.002410410462361307,
0.0025687962770462036
],
[
0.11441279001251024,
-0.00439165742988349,
-0.038796037435531616
],
[
0.12049374562963164,
-0.005984747338032987,
-0.08257770910859108
],
[
0.11593042595702227,
-0.0037748511777170378,
-0.04027532879263163
],
[
0.10631135727597098,
-0.0026442819988579686,
-0.03996275831013918
],
[
0.12576764476216973,
-0.002042948119257123,
-0.01421397365629673
],
[
0.1348955034310699,
-0.0012375563840235776,
-0.0067194364964962006
],
[
0.06794608025148297,
-0.00022932678312786049,
0.053611125564202666
],
[
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-20261019-180142-7992c767",
"inference_id": 1,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.24657438276335597,
"peak_memory_bytes": 9208309248,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 12008292352,
"load_count": 1,
"total_seconds": 0.2497637290507555
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.15018942952156067,
0.013435296714305878,
0.10487789660692215
],
[
0.26571947336196894,
0.029490891844034195,
0.16830667853355408
],
[
0.3689333796501159,
0.0494733490049839,
0.17087547481060028
],
[
0.48242667317390436,
0.06460098922252655,
0.13207943737506866
],
[
0.6026591062545776,
0.07453688234090805,
0.049501728266477585
],
[
0.718634307384491,
0.07650306820869446,
0.009226399473845952
],
[
0.8249655365943909,
0.0748397558927536,
-0.030736358836293227
],
[
0.9506109952926635,
0.06893274188041687,
-0.04495033249258996
],
[
1.085314631462097,
0.061634879559278495,
-0.05166976898908616
],
[
1.1531581878662107,
0.05789666250348092,
0.0019413565751165082
]
],
"observed_poses": [
[
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
[
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
[
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
[
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
[
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
[
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
[
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
[
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
[
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
[
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
[
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the streetsign, return to the orange fence you've seen before",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000000/input-000.jpg",
"sha256": "534fa5425ae5b1e3acd9cf85cff40e250b5a4324a9687f17ea609f6c631672f2",
"pose": [
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
"timestamp": 9635.02579115,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-002.jpg",
"sha256": "7da9eb8a0cdcc11b1fae27f1970a216d1460c3fc766aebcaf3991e62a8c68973",
"pose": [
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
"timestamp": 9637.748685199,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-003.jpg",
"sha256": "a0d69af424df4f9cc660566651aba36d7ee34c0bef58c8ceea3c196d6a962433",
"pose": [
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
"timestamp": 9638.549616941,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-006.jpg",
"sha256": "450036af09b36864a4bbb2118dca262751e66aec971a0e9d011bfeedcf984c75",
"pose": [
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
"timestamp": 9641.555446458,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-007.jpg",
"sha256": "16b3abb7a8a1c010fd9dc48283930752cde726d500dfdf7a2b10eb6174e20885",
"pose": [
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
"timestamp": 9642.288625843,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-008.jpg",
"sha256": "727c831169c360b697eef85443e0f07e37684dbebe41c90ce526a38dbd70fcd2",
"pose": [
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
"timestamp": 9643.486326663,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-009.jpg",
"sha256": "8284abd20da3c188f286a073ce94dcabaffd21b9ae2a8f6ad813e001fb3b4a42",
"pose": [
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
"timestamp": 9644.022417332,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-000.jpg",
"sha256": "54a8e12f98fb77c333ff784d13056024584bf3a658602e6a9835232da7487e50",
"pose": [
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
"timestamp": 9645.289759219,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-001.jpg",
"sha256": "2ba6c64d5ed1f1538bab10af60a7dd2575f5b39f427a90507771661585e4c45c",
"pose": [
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
"timestamp": 9645.891634653,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-002.jpg",
"sha256": "57c119bf5d4abc5da5db1ec179cfc69f391fec507b8c47fc30ec57ebe7fda323",
"pose": [
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
"timestamp": 9646.422376037,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-003.jpg",
"sha256": "08339a7af4ee31f89932b2b8bcb9502b40fa27306302ec6892778b5abac0fe60",
"pose": [
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
"timestamp": 9647.024119594,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-004.jpg",
"sha256": "d6713871b85bf388826aeaa6e8f291a82eff7f1c611b91b5e99425af6b412330",
"pose": [
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
"timestamp": 9647.559220307,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-005.jpg",
"sha256": "91b4c35a66e2f4ae2fd414b891250cbf58d08f91a36c157ad69b5bd681f6ac4b",
"pose": [
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
"timestamp": 9648.158383288,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-006.jpg",
"sha256": "54c8048b4f74ce2bc4f5dac4246e192c40483849a5038dafc2b766797da4d472",
"pose": [
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
"timestamp": 9648.694472229,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-007.jpg",
"sha256": "8962b7caffe9e53286726d135e2200fef5f1bbec0bd2dcd79b5f40811cbeeccd",
"pose": [
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
"timestamp": 9649.294747252,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-008.jpg",
"sha256": "6258fc64d3a1a9cca1611d363c19f5a4e81ae3d57beb31b2fa8944c0b7ff4fca",
"pose": [
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
"timestamp": 9649.894004061,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-009.jpg",
"sha256": "a741d079975a9058f0b100163469052bc83e838471db6396c6743f3fe3016b71",
"pose": [
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
"timestamp": 9650.225514955,
"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": 1.3997674790007295,
"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 streetsign, return to the orange fence you've seen before</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,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
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 streetsign, return to the orange fence you've seen before</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,
528
],
"attention_mask": [
1,
528
],
"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,
528
],
"mm_token_type_ids": [
1,
528
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-002.jpg",
"sha256": "7da9eb8a0cdcc11b1fae27f1970a216d1460c3fc766aebcaf3991e62a8c68973",
"pose": [
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
"timestamp": 9637.748685199,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-003.jpg",
"sha256": "a0d69af424df4f9cc660566651aba36d7ee34c0bef58c8ceea3c196d6a962433",
"pose": [
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
"timestamp": 9638.549616941,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-006.jpg",
"sha256": "450036af09b36864a4bbb2118dca262751e66aec971a0e9d011bfeedcf984c75",
"pose": [
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
"timestamp": 9641.555446458,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-007.jpg",
"sha256": "16b3abb7a8a1c010fd9dc48283930752cde726d500dfdf7a2b10eb6174e20885",
"pose": [
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
"timestamp": 9642.288625843,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-008.jpg",
"sha256": "727c831169c360b697eef85443e0f07e37684dbebe41c90ce526a38dbd70fcd2",
"pose": [
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
"timestamp": 9643.486326663,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-009.jpg",
"sha256": "8284abd20da3c188f286a073ce94dcabaffd21b9ae2a8f6ad813e001fb3b4a42",
"pose": [
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
"timestamp": 9644.022417332,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-000.jpg",
"sha256": "54a8e12f98fb77c333ff784d13056024584bf3a658602e6a9835232da7487e50",
"pose": [
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
"timestamp": 9645.289759219,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-001.jpg",
"sha256": "2ba6c64d5ed1f1538bab10af60a7dd2575f5b39f427a90507771661585e4c45c",
"pose": [
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
"timestamp": 9645.891634653,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-002.jpg",
"sha256": "57c119bf5d4abc5da5db1ec179cfc69f391fec507b8c47fc30ec57ebe7fda323",
"pose": [
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
"timestamp": 9646.422376037,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-003.jpg",
"sha256": "08339a7af4ee31f89932b2b8bcb9502b40fa27306302ec6892778b5abac0fe60",
"pose": [
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
"timestamp": 9647.024119594,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-004.jpg",
"sha256": "d6713871b85bf388826aeaa6e8f291a82eff7f1c611b91b5e99425af6b412330",
"pose": [
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
"timestamp": 9647.559220307,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-005.jpg",
"sha256": "91b4c35a66e2f4ae2fd414b891250cbf58d08f91a36c157ad69b5bd681f6ac4b",
"pose": [
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
"timestamp": 9648.158383288,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-006.jpg",
"sha256": "54c8048b4f74ce2bc4f5dac4246e192c40483849a5038dafc2b766797da4d472",
"pose": [
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
"timestamp": 9648.694472229,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-007.jpg",
"sha256": "8962b7caffe9e53286726d135e2200fef5f1bbec0bd2dcd79b5f40811cbeeccd",
"pose": [
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
"timestamp": 9649.294747252,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-008.jpg",
"sha256": "6258fc64d3a1a9cca1611d363c19f5a4e81ae3d57beb31b2fa8944c0b7ff4fca",
"pose": [
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
"timestamp": 9649.894004061,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-009.jpg",
"sha256": "a741d079975a9058f0b100163469052bc83e838471db6396c6743f3fe3016b71",
"pose": [
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
"timestamp": 9650.225514955,
"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 streetsign, return to the orange fence you've seen before</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": [
[
0.15057703852653503,
0.006294519640505314,
0.06132151931524277
],
[
0.15273970195443062,
0.0038189314989670823,
0.06830302625894547
],
[
0.14330810369563557,
0.007770503197210361,
0.07934258878231049
],
[
0.1425527433249703,
0.005184927534982047,
0.07130666077136993
],
[
0.13718824708392716,
-0.005238780779603054,
-0.07549050450325012
],
[
0.12112441089732238,
0.0013017426370365154,
-0.05408558249473572
],
[
0.09460374757885137,
-0.0010472606198569639,
-0.07618296146392822
],
[
0.11108265173144655,
0.0008215455003857588,
-0.012352250516414642
],
[
0.13662339032332238,
-0.00026203027757220124,
-0.01197420060634613
],
[
0.11968562396665335,
9.643526835813494e-05,
-0.02861453779041767
]
],
"stop": false,
"plan": null,
"raw": "<apos_982><opos_620><act_l0_28><act_l1_64><act_l2_35><|im_end|>",
"waypoints": [
[
0.15057703852653503,
0.006294519640505314,
0.06132151931524277
],
[
0.3027956187725067,
0.019466634839773178,
0.12962454557418823
],
[
0.443897008895874,
0.04569621756672859,
0.20896713435649872
],
[
0.582273006439209,
0.08034086227416992,
0.28027379512786865
],
[
0.7155572772026062,
0.1132553443312645,
0.20478329062461853
],
[
0.8338860869407654,
0.1391611397266388,
0.1506977081298828
],
[
0.927574872970581,
0.15232841670513153,
0.07451474666595459
],
[
1.0382881164550781,
0.16141732037067413,
0.06216249614953995
],
[
1.1746639013290405,
0.16964317858219147,
0.05018829554319382
],
[
1.294193983078003,
0.17574378848075867,
0.021573757752776146
]
],
"pointing": {
"apos": 982,
"opos": 620
},
"rvq_codes": [
28,
64,
35
],
"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 streetsign, return to the orange fence you've seen before</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,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
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 streetsign, return to the orange fence you've seen before</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,
528
],
"attention_mask": [
1,
528
],
"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,
528
],
"mm_token_type_ids": [
1,
528
]
}
},
"history_fps": 4
},
"native_latency_ms": 220.21882515400648
},
"response": {
"type": "step",
"actions": [
[
0.15057703852653503,
0.006294519640505314,
0.06132151931524277
],
[
0.15273970195443062,
0.0038189314989670823,
0.06830302625894547
],
[
0.14330810369563557,
0.007770503197210361,
0.07934258878231049
],
[
0.1425527433249703,
0.005184927534982047,
0.07130666077136993
],
[
0.13718824708392716,
-0.005238780779603054,
-0.07549050450325012
],
[
0.12112441089732238,
0.0013017426370365154,
-0.05408558249473572
],
[
0.09460374757885137,
-0.0010472606198569639,
-0.07618296146392822
],
[
0.11108265173144655,
0.0008215455003857588,
-0.012352250516414642
],
[
0.13662339032332238,
-0.00026203027757220124,
-0.01197420060634613
],
[
0.11968562396665335,
9.643526835813494e-05,
-0.02861453779041767
],
[
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-20261019-180142-7992c767",
"inference_id": 2,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.2991219758987427,
"peak_memory_bytes": 9314217984,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 12008292352,
"load_count": 1,
"total_seconds": 0.30267564533278346
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.15057703852653503,
0.006294519640505314,
0.06132151931524277
],
[
0.3027956187725067,
0.019466634839773175,
0.12962454557418823
],
[
0.44389700889587397,
0.045696217566728585,
0.20896713435649872
],
[
0.582273006439209,
0.08034086227416992,
0.28027379512786865
],
[
0.7155572772026062,
0.11325534433126451,
0.20478329062461853
],
[
0.8338860869407653,
0.13916113972663882,
0.1506977081298828
],
[
0.9275748729705809,
0.15232841670513156,
0.07451474666595459
],
[
1.0382881164550781,
0.16141732037067416,
0.06216249614953995
],
[
1.1746639013290405,
0.1696431785821915,
0.05018829554319382
],
[
1.294193983078003,
0.1757437884807587,
0.021573757752776146
]
],
"observed_poses": [
[
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
[
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
[
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
[
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
[
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
[
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
[
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
[
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
[
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
[
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
[
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
[
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
[
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
[
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
[
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
[
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
[
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
[
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
[
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
[
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
[
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the streetsign, return to the orange fence you've seen before",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000000/input-000.jpg",
"sha256": "534fa5425ae5b1e3acd9cf85cff40e250b5a4324a9687f17ea609f6c631672f2",
"pose": [
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
"timestamp": 9635.02579115,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-002.jpg",
"sha256": "7da9eb8a0cdcc11b1fae27f1970a216d1460c3fc766aebcaf3991e62a8c68973",
"pose": [
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
"timestamp": 9637.748685199,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-003.jpg",
"sha256": "a0d69af424df4f9cc660566651aba36d7ee34c0bef58c8ceea3c196d6a962433",
"pose": [
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
"timestamp": 9638.549616941,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-006.jpg",
"sha256": "450036af09b36864a4bbb2118dca262751e66aec971a0e9d011bfeedcf984c75",
"pose": [
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
"timestamp": 9641.555446458,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-007.jpg",
"sha256": "16b3abb7a8a1c010fd9dc48283930752cde726d500dfdf7a2b10eb6174e20885",
"pose": [
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
"timestamp": 9642.288625843,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-008.jpg",
"sha256": "727c831169c360b697eef85443e0f07e37684dbebe41c90ce526a38dbd70fcd2",
"pose": [
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
"timestamp": 9643.486326663,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-009.jpg",
"sha256": "8284abd20da3c188f286a073ce94dcabaffd21b9ae2a8f6ad813e001fb3b4a42",
"pose": [
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
"timestamp": 9644.022417332,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-000.jpg",
"sha256": "54a8e12f98fb77c333ff784d13056024584bf3a658602e6a9835232da7487e50",
"pose": [
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
"timestamp": 9645.289759219,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-001.jpg",
"sha256": "2ba6c64d5ed1f1538bab10af60a7dd2575f5b39f427a90507771661585e4c45c",
"pose": [
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
"timestamp": 9645.891634653,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-002.jpg",
"sha256": "57c119bf5d4abc5da5db1ec179cfc69f391fec507b8c47fc30ec57ebe7fda323",
"pose": [
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
"timestamp": 9646.422376037,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-003.jpg",
"sha256": "08339a7af4ee31f89932b2b8bcb9502b40fa27306302ec6892778b5abac0fe60",
"pose": [
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
"timestamp": 9647.024119594,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-004.jpg",
"sha256": "d6713871b85bf388826aeaa6e8f291a82eff7f1c611b91b5e99425af6b412330",
"pose": [
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
"timestamp": 9647.559220307,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-005.jpg",
"sha256": "91b4c35a66e2f4ae2fd414b891250cbf58d08f91a36c157ad69b5bd681f6ac4b",
"pose": [
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
"timestamp": 9648.158383288,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-006.jpg",
"sha256": "54c8048b4f74ce2bc4f5dac4246e192c40483849a5038dafc2b766797da4d472",
"pose": [
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
"timestamp": 9648.694472229,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-007.jpg",
"sha256": "8962b7caffe9e53286726d135e2200fef5f1bbec0bd2dcd79b5f40811cbeeccd",
"pose": [
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
"timestamp": 9649.294747252,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-008.jpg",
"sha256": "6258fc64d3a1a9cca1611d363c19f5a4e81ae3d57beb31b2fa8944c0b7ff4fca",
"pose": [
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
"timestamp": 9649.894004061,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-009.jpg",
"sha256": "a741d079975a9058f0b100163469052bc83e838471db6396c6743f3fe3016b71",
"pose": [
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
"timestamp": 9650.225514955,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-000.jpg",
"sha256": "c23120c71d5888edbc79ddfc3712840dc026535d6313423479cee047dbe94866",
"pose": [
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
"timestamp": 9651.694500605,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-001.jpg",
"sha256": "940ea010af3a83dd641ea4ffc625b2ba35bf62fc37bf77a01dc9db97ef24a881",
"pose": [
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
"timestamp": 9652.562508071,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-002.jpg",
"sha256": "4c5ff66c6635ba732a0432f9e641f4bb557c8657d008a027b96505cf148237d9",
"pose": [
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
"timestamp": 9653.364641777,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-003.jpg",
"sha256": "2be5182fd3392284260e800039ec14d3b68189d583084f1f910817081574f22d",
"pose": [
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
"timestamp": 9653.967484958,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-004.jpg",
"sha256": "9730dc53269bbed7781d6795d34d2de95b90a58d59c54066dfebf053d931edae",
"pose": [
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
"timestamp": 9654.566588834,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-005.jpg",
"sha256": "d04101cf0dc35dca3eecda236706f9bbc1f29c698aa1694a71b4299758104b7a",
"pose": [
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
"timestamp": 9655.10049139,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-006.jpg",
"sha256": "29628729abdf08bf93a04c292c8c4e69abb01dd05bd795e8d5fb9cc710ba49f0",
"pose": [
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
"timestamp": 9655.633777604,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-007.jpg",
"sha256": "99fccee0e96b6564c92ba81a08c44ef154cff23fe023658ad011bbcf4aeba5e9",
"pose": [
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
"timestamp": 9656.165297001,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-008.jpg",
"sha256": "54332eeca927e372a9a3b92ff7264f51ade7dcf62813ee56d5254aa25444cb11",
"pose": [
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
"timestamp": 9656.904110417,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-009.jpg",
"sha256": "d7f9df07219fd822b4e0b3e191631f09ff9c269f5b9217d7f6feb0e3c40b1a46",
"pose": [
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
"timestamp": 9657.436190954,
"observation_id": 30
}
],
"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
],
"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": 1.4689856499990128,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29
],
"segments": [
{
"indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27
],
"tensor": "processed/segment0.pt",
"shape": [
28,
3,
256,
448
]
},
{
"indices": [
28,
29
],
"tensor": "processed/segment1.pt",
"shape": [
2,
3,
256,
448
]
}
],
"prompt": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<7.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the streetsign, return to the orange fence you've seen before</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
"tokenized": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<7.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the streetsign, return to the orange fence you've seen before</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,
708
],
"attention_mask": [
1,
708
],
"pixel_values_videos": [
1,
6720,
1536
],
"video_grid_thw": [
2,
3
],
"_original_video_grid_thw": [
2,
3
],
"_post_vit_pool_factors": [
2
],
"position_ids": [
1,
3,
708
],
"mm_token_type_ids": [
1,
708
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-002.jpg",
"sha256": "7da9eb8a0cdcc11b1fae27f1970a216d1460c3fc766aebcaf3991e62a8c68973",
"pose": [
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
"timestamp": 9637.748685199,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-003.jpg",
"sha256": "a0d69af424df4f9cc660566651aba36d7ee34c0bef58c8ceea3c196d6a962433",
"pose": [
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
"timestamp": 9638.549616941,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-006.jpg",
"sha256": "450036af09b36864a4bbb2118dca262751e66aec971a0e9d011bfeedcf984c75",
"pose": [
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
"timestamp": 9641.555446458,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-007.jpg",
"sha256": "16b3abb7a8a1c010fd9dc48283930752cde726d500dfdf7a2b10eb6174e20885",
"pose": [
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
"timestamp": 9642.288625843,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-008.jpg",
"sha256": "727c831169c360b697eef85443e0f07e37684dbebe41c90ce526a38dbd70fcd2",
"pose": [
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
"timestamp": 9643.486326663,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-009.jpg",
"sha256": "8284abd20da3c188f286a073ce94dcabaffd21b9ae2a8f6ad813e001fb3b4a42",
"pose": [
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
"timestamp": 9644.022417332,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-000.jpg",
"sha256": "54a8e12f98fb77c333ff784d13056024584bf3a658602e6a9835232da7487e50",
"pose": [
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
"timestamp": 9645.289759219,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-001.jpg",
"sha256": "2ba6c64d5ed1f1538bab10af60a7dd2575f5b39f427a90507771661585e4c45c",
"pose": [
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
"timestamp": 9645.891634653,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-002.jpg",
"sha256": "57c119bf5d4abc5da5db1ec179cfc69f391fec507b8c47fc30ec57ebe7fda323",
"pose": [
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
"timestamp": 9646.422376037,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-003.jpg",
"sha256": "08339a7af4ee31f89932b2b8bcb9502b40fa27306302ec6892778b5abac0fe60",
"pose": [
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
"timestamp": 9647.024119594,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-004.jpg",
"sha256": "d6713871b85bf388826aeaa6e8f291a82eff7f1c611b91b5e99425af6b412330",
"pose": [
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
"timestamp": 9647.559220307,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-005.jpg",
"sha256": "91b4c35a66e2f4ae2fd414b891250cbf58d08f91a36c157ad69b5bd681f6ac4b",
"pose": [
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
"timestamp": 9648.158383288,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-006.jpg",
"sha256": "54c8048b4f74ce2bc4f5dac4246e192c40483849a5038dafc2b766797da4d472",
"pose": [
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
"timestamp": 9648.694472229,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-007.jpg",
"sha256": "8962b7caffe9e53286726d135e2200fef5f1bbec0bd2dcd79b5f40811cbeeccd",
"pose": [
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
"timestamp": 9649.294747252,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-008.jpg",
"sha256": "6258fc64d3a1a9cca1611d363c19f5a4e81ae3d57beb31b2fa8944c0b7ff4fca",
"pose": [
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
"timestamp": 9649.894004061,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-009.jpg",
"sha256": "a741d079975a9058f0b100163469052bc83e838471db6396c6743f3fe3016b71",
"pose": [
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
"timestamp": 9650.225514955,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-000.jpg",
"sha256": "c23120c71d5888edbc79ddfc3712840dc026535d6313423479cee047dbe94866",
"pose": [
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
"timestamp": 9651.694500605,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-001.jpg",
"sha256": "940ea010af3a83dd641ea4ffc625b2ba35bf62fc37bf77a01dc9db97ef24a881",
"pose": [
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
"timestamp": 9652.562508071,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-002.jpg",
"sha256": "4c5ff66c6635ba732a0432f9e641f4bb557c8657d008a027b96505cf148237d9",
"pose": [
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
"timestamp": 9653.364641777,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-003.jpg",
"sha256": "2be5182fd3392284260e800039ec14d3b68189d583084f1f910817081574f22d",
"pose": [
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
"timestamp": 9653.967484958,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-004.jpg",
"sha256": "9730dc53269bbed7781d6795d34d2de95b90a58d59c54066dfebf053d931edae",
"pose": [
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
"timestamp": 9654.566588834,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-005.jpg",
"sha256": "d04101cf0dc35dca3eecda236706f9bbc1f29c698aa1694a71b4299758104b7a",
"pose": [
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
"timestamp": 9655.10049139,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-006.jpg",
"sha256": "29628729abdf08bf93a04c292c8c4e69abb01dd05bd795e8d5fb9cc710ba49f0",
"pose": [
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
"timestamp": 9655.633777604,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-007.jpg",
"sha256": "99fccee0e96b6564c92ba81a08c44ef154cff23fe023658ad011bbcf4aeba5e9",
"pose": [
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
"timestamp": 9656.165297001,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-008.jpg",
"sha256": "54332eeca927e372a9a3b92ff7264f51ade7dcf62813ee56d5254aa25444cb11",
"pose": [
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
"timestamp": 9656.904110417,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-009.jpg",
"sha256": "d7f9df07219fd822b4e0b3e191631f09ff9c269f5b9217d7f6feb0e3c40b1a46",
"pose": [
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
"timestamp": 9657.436190954,
"observation_id": 30
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<7.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the streetsign, return to the orange fence you've seen before</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": [
[
0.07248371839523315,
0.005991965066641569,
0.0346350334584713
],
[
0.1630500762597516,
0.0027454632580230353,
0.09485637024044992
],
[
0.09201455034712541,
0.013824304143814211,
0.14129026234149933
],
[
0.07234890683308484,
0.007008222598058288,
0.08413311839103699
],
[
0.1131544091909313,
-0.000243850591576944,
0.029687166213989258
],
[
0.12826449130026535,
0.0015227407076454716,
0.0023092329502105713
],
[
0.16683746945296962,
-0.009042941481989829,
-0.12779152393341064
],
[
0.15451624337637085,
-0.005868098158033894,
-0.12506066262722015
],
[
0.1560356979829071,
-0.00370400867257455,
-0.07017170637845993
],
[
0.0463304532528928,
-0.00013232776421223886,
-0.021305009722709656
]
],
"stop": false,
"plan": null,
"raw": "<apos_980><opos_558><act_l0_252><act_l1_103><act_l2_22><|im_end|>",
"waypoints": [
[
0.07248371839523315,
0.005991965066641569,
0.0346350334584713
],
[
0.2353409379720688,
0.014381897635757923,
0.1294914036989212
],
[
0.3247999846935272,
0.03997228294610977,
0.27078166604042053
],
[
0.39263805747032166,
0.06607736647129059,
0.3549147844314575
],
[
0.49882498383522034,
0.10517105460166931,
0.3846019506454468
],
[
0.6171481609344482,
0.15470613539218903,
0.38691118359565735
],
[
0.775065004825592,
0.20928439497947693,
0.2591196596622467
],
[
0.9259264469146729,
0.24320384860038757,
0.13405899703502655
],
[
1.0810571908950806,
0.26038846373558044,
0.06388729065656662
],
[
1.127301573753357,
0.2632143199443817,
0.042582280933856964
]
],
"pointing": {
"apos": 980,
"opos": 558
},
"rvq_codes": [
252,
103,
22
],
"model_input": {
"history_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29
],
"segments": [
{
"indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27
],
"tensor": "processed/segment0.pt",
"shape": [
28,
3,
256,
448
]
},
{
"indices": [
28,
29
],
"tensor": "processed/segment1.pt",
"shape": [
2,
3,
256,
448
]
}
],
"prompt": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<7.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the streetsign, return to the orange fence you've seen before</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
"tokenized": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<7.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the streetsign, return to the orange fence you've seen before</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,
708
],
"attention_mask": [
1,
708
],
"pixel_values_videos": [
1,
6720,
1536
],
"video_grid_thw": [
2,
3
],
"_original_video_grid_thw": [
2,
3
],
"_post_vit_pool_factors": [
2
],
"position_ids": [
1,
3,
708
],
"mm_token_type_ids": [
1,
708
]
}
},
"history_fps": 4
},
"native_latency_ms": 226.40576399862766
},
"response": {
"type": "step",
"actions": [
[
0.07248371839523315,
0.005991965066641569,
0.0346350334584713
],
[
0.1630500762597516,
0.0027454632580230353,
0.09485637024044992
],
[
0.09201455034712541,
0.013824304143814211,
0.14129026234149933
],
[
0.07234890683308484,
0.007008222598058288,
0.08413311839103699
],
[
0.1131544091909313,
-0.000243850591576944,
0.029687166213989258
],
[
0.12826449130026535,
0.0015227407076454716,
0.0023092329502105713
],
[
0.16683746945296962,
-0.009042941481989829,
-0.12779152393341064
],
[
0.15451624337637085,
-0.005868098158033894,
-0.12506066262722015
],
[
0.1560356979829071,
-0.00370400867257455,
-0.07017170637845993
],
[
0.0463304532528928,
-0.00013232776421223886,
-0.021305009722709656
],
[
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-20261019-180142-7992c767",
"inference_id": 3,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.3775759134441614,
"peak_memory_bytes": 9419127296,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 12008292352,
"load_count": 1,
"total_seconds": 0.38134802132844925
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.07248371839523315,
0.005991965066641569,
0.0346350334584713
],
[
0.23534093797206873,
0.014381897635757921,
0.1294914036989212
],
[
0.32479998469352717,
0.03997228294610977,
0.27078166604042053
],
[
0.3926380574703216,
0.06607736647129059,
0.3549147844314576
],
[
0.4988249838352203,
0.10517105460166931,
0.3846019506454469
],
[
0.6171481609344482,
0.15470613539218905,
0.38691118359565746
],
[
0.775065004825592,
0.20928439497947696,
0.25911965966224687
],
[
0.9259264469146727,
0.2432038486003876,
0.13405899703502672
],
[
1.0810571908950806,
0.2603884637355805,
0.06388729065656679
],
[
1.127301573753357,
0.26321431994438177,
0.04258228093385713
]
],
"observed_poses": [
[
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
[
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
[
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
[
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
[
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
[
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
[
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
[
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
[
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
[
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
[
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
[
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
[
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
[
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
[
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
[
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
[
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
[
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
[
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
[
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
[
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
[
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
[
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
[
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
[
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
[
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
[
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
[
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
[
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
[
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
[
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the streetsign, return to the orange fence you've seen before",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000000/input-000.jpg",
"sha256": "534fa5425ae5b1e3acd9cf85cff40e250b5a4324a9687f17ea609f6c631672f2",
"pose": [
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
"timestamp": 9635.02579115,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-002.jpg",
"sha256": "7da9eb8a0cdcc11b1fae27f1970a216d1460c3fc766aebcaf3991e62a8c68973",
"pose": [
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
"timestamp": 9637.748685199,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-003.jpg",
"sha256": "a0d69af424df4f9cc660566651aba36d7ee34c0bef58c8ceea3c196d6a962433",
"pose": [
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
"timestamp": 9638.549616941,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-006.jpg",
"sha256": "450036af09b36864a4bbb2118dca262751e66aec971a0e9d011bfeedcf984c75",
"pose": [
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
"timestamp": 9641.555446458,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-007.jpg",
"sha256": "16b3abb7a8a1c010fd9dc48283930752cde726d500dfdf7a2b10eb6174e20885",
"pose": [
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
"timestamp": 9642.288625843,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-008.jpg",
"sha256": "727c831169c360b697eef85443e0f07e37684dbebe41c90ce526a38dbd70fcd2",
"pose": [
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
"timestamp": 9643.486326663,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-009.jpg",
"sha256": "8284abd20da3c188f286a073ce94dcabaffd21b9ae2a8f6ad813e001fb3b4a42",
"pose": [
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
"timestamp": 9644.022417332,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-000.jpg",
"sha256": "54a8e12f98fb77c333ff784d13056024584bf3a658602e6a9835232da7487e50",
"pose": [
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
"timestamp": 9645.289759219,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-001.jpg",
"sha256": "2ba6c64d5ed1f1538bab10af60a7dd2575f5b39f427a90507771661585e4c45c",
"pose": [
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
"timestamp": 9645.891634653,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-002.jpg",
"sha256": "57c119bf5d4abc5da5db1ec179cfc69f391fec507b8c47fc30ec57ebe7fda323",
"pose": [
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
"timestamp": 9646.422376037,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-003.jpg",
"sha256": "08339a7af4ee31f89932b2b8bcb9502b40fa27306302ec6892778b5abac0fe60",
"pose": [
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
"timestamp": 9647.024119594,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-004.jpg",
"sha256": "d6713871b85bf388826aeaa6e8f291a82eff7f1c611b91b5e99425af6b412330",
"pose": [
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
"timestamp": 9647.559220307,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-005.jpg",
"sha256": "91b4c35a66e2f4ae2fd414b891250cbf58d08f91a36c157ad69b5bd681f6ac4b",
"pose": [
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
"timestamp": 9648.158383288,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-006.jpg",
"sha256": "54c8048b4f74ce2bc4f5dac4246e192c40483849a5038dafc2b766797da4d472",
"pose": [
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
"timestamp": 9648.694472229,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-007.jpg",
"sha256": "8962b7caffe9e53286726d135e2200fef5f1bbec0bd2dcd79b5f40811cbeeccd",
"pose": [
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
"timestamp": 9649.294747252,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-008.jpg",
"sha256": "6258fc64d3a1a9cca1611d363c19f5a4e81ae3d57beb31b2fa8944c0b7ff4fca",
"pose": [
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
"timestamp": 9649.894004061,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-009.jpg",
"sha256": "a741d079975a9058f0b100163469052bc83e838471db6396c6743f3fe3016b71",
"pose": [
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
"timestamp": 9650.225514955,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-000.jpg",
"sha256": "c23120c71d5888edbc79ddfc3712840dc026535d6313423479cee047dbe94866",
"pose": [
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
"timestamp": 9651.694500605,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-001.jpg",
"sha256": "940ea010af3a83dd641ea4ffc625b2ba35bf62fc37bf77a01dc9db97ef24a881",
"pose": [
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
"timestamp": 9652.562508071,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-002.jpg",
"sha256": "4c5ff66c6635ba732a0432f9e641f4bb557c8657d008a027b96505cf148237d9",
"pose": [
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
"timestamp": 9653.364641777,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-003.jpg",
"sha256": "2be5182fd3392284260e800039ec14d3b68189d583084f1f910817081574f22d",
"pose": [
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
"timestamp": 9653.967484958,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-004.jpg",
"sha256": "9730dc53269bbed7781d6795d34d2de95b90a58d59c54066dfebf053d931edae",
"pose": [
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
"timestamp": 9654.566588834,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-005.jpg",
"sha256": "d04101cf0dc35dca3eecda236706f9bbc1f29c698aa1694a71b4299758104b7a",
"pose": [
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
"timestamp": 9655.10049139,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-006.jpg",
"sha256": "29628729abdf08bf93a04c292c8c4e69abb01dd05bd795e8d5fb9cc710ba49f0",
"pose": [
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
"timestamp": 9655.633777604,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-007.jpg",
"sha256": "99fccee0e96b6564c92ba81a08c44ef154cff23fe023658ad011bbcf4aeba5e9",
"pose": [
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
"timestamp": 9656.165297001,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-008.jpg",
"sha256": "54332eeca927e372a9a3b92ff7264f51ade7dcf62813ee56d5254aa25444cb11",
"pose": [
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
"timestamp": 9656.904110417,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-009.jpg",
"sha256": "d7f9df07219fd822b4e0b3e191631f09ff9c269f5b9217d7f6feb0e3c40b1a46",
"pose": [
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
"timestamp": 9657.436190954,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-000.jpg",
"sha256": "f98e71014a2ff324b365bf36fe05056d8336644b6b6c4c0b9da4f176414ac0b9",
"pose": [
2.5486322919784037,
0.47383234297646437,
0.27615815431776486
],
"timestamp": 9658.501981561,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-001.jpg",
"sha256": "22889956a096c333c9f755860adfa38e0f5b2d552f9ce118aea1317fbc9e4e33",
"pose": [
2.668975518110721,
0.5226311809385773,
0.36634412498448604
],
"timestamp": 9659.433682162,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-002.jpg",
"sha256": "d65b23badc2ad2c6339fe3bd5ad52a3e644ad679406121fff1edf2c7769e3b21",
"pose": [
2.7093030584210194,
0.5341810292263233,
0.4647852134303846
],
"timestamp": 9660.037273883,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-003.jpg",
"sha256": "ed88ac4777e4437c7c63cec98807be412cd35744650ac496ea33fe638979a31a",
"pose": [
2.7366822999504006,
0.541104757411701,
0.5282477121270054
],
"timestamp": 9660.437405294,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-004.jpg",
"sha256": "a0b7e8d490ea85c2044a8610f40c181a5f1476e21a83098ba601236ecc68d307",
"pose": [
2.7997468440222084,
0.5796303355989587,
0.5372177429171877
],
"timestamp": 9661.173687225,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-005.jpg",
"sha256": "4676416469a25db0485193d976b548484daf39402eb676cd9d9f641b34757f86",
"pose": [
2.8743868986922054,
0.6254563377089981,
0.5650432147573998
],
"timestamp": 9661.77418584,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-006.jpg",
"sha256": "5e0a802904773b271e58558346c62e68047d2c3638acd5119aac807269382a1b",
"pose": [
2.979181965771598,
0.685584251711323,
0.4544016144403487
],
"timestamp": 9662.639741599,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-007.jpg",
"sha256": "b593f2d366f5564ad81e9c52654221d451b3fadb4cc2de845693f1b4757b92e7",
"pose": [
3.076467305048357,
0.7308578209711767,
0.3655543482098235
],
"timestamp": 9663.509754931,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-008.jpg",
"sha256": "c9bdcc8f6bbb3f6587f4ee9405fadf0e10ad7d5b5d1d357d845a4a4e379c3147",
"pose": [
3.186157859990168,
0.7741025176536409,
0.3155987405997137
],
"timestamp": 9664.31070789,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-009.jpg",
"sha256": "ef10eb8d46f94424da8593242dc8002b1f891eef19e3e27cef9163fd38281332",
"pose": [
3.187039281671232,
0.7760073337491363,
0.3270649593190515
],
"timestamp": 9664.442823934,
"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": 1.4689856499990128,
"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 streetsign, return to the orange fence you've seen before</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,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
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 streetsign, return to the orange fence you've seen before</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,
832
],
"attention_mask": [
1,
832
],
"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,
832
],
"mm_token_type_ids": [
1,
832
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-006.jpg",
"sha256": "450036af09b36864a4bbb2118dca262751e66aec971a0e9d011bfeedcf984c75",
"pose": [
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
"timestamp": 9641.555446458,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-007.jpg",
"sha256": "16b3abb7a8a1c010fd9dc48283930752cde726d500dfdf7a2b10eb6174e20885",
"pose": [
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
"timestamp": 9642.288625843,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-008.jpg",
"sha256": "727c831169c360b697eef85443e0f07e37684dbebe41c90ce526a38dbd70fcd2",
"pose": [
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
"timestamp": 9643.486326663,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-009.jpg",
"sha256": "8284abd20da3c188f286a073ce94dcabaffd21b9ae2a8f6ad813e001fb3b4a42",
"pose": [
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
"timestamp": 9644.022417332,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-000.jpg",
"sha256": "54a8e12f98fb77c333ff784d13056024584bf3a658602e6a9835232da7487e50",
"pose": [
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
"timestamp": 9645.289759219,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-001.jpg",
"sha256": "2ba6c64d5ed1f1538bab10af60a7dd2575f5b39f427a90507771661585e4c45c",
"pose": [
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
"timestamp": 9645.891634653,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-002.jpg",
"sha256": "57c119bf5d4abc5da5db1ec179cfc69f391fec507b8c47fc30ec57ebe7fda323",
"pose": [
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
"timestamp": 9646.422376037,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-003.jpg",
"sha256": "08339a7af4ee31f89932b2b8bcb9502b40fa27306302ec6892778b5abac0fe60",
"pose": [
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
"timestamp": 9647.024119594,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-004.jpg",
"sha256": "d6713871b85bf388826aeaa6e8f291a82eff7f1c611b91b5e99425af6b412330",
"pose": [
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
"timestamp": 9647.559220307,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-005.jpg",
"sha256": "91b4c35a66e2f4ae2fd414b891250cbf58d08f91a36c157ad69b5bd681f6ac4b",
"pose": [
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
"timestamp": 9648.158383288,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-006.jpg",
"sha256": "54c8048b4f74ce2bc4f5dac4246e192c40483849a5038dafc2b766797da4d472",
"pose": [
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
"timestamp": 9648.694472229,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-007.jpg",
"sha256": "8962b7caffe9e53286726d135e2200fef5f1bbec0bd2dcd79b5f40811cbeeccd",
"pose": [
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
"timestamp": 9649.294747252,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-008.jpg",
"sha256": "6258fc64d3a1a9cca1611d363c19f5a4e81ae3d57beb31b2fa8944c0b7ff4fca",
"pose": [
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
"timestamp": 9649.894004061,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-009.jpg",
"sha256": "a741d079975a9058f0b100163469052bc83e838471db6396c6743f3fe3016b71",
"pose": [
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
"timestamp": 9650.225514955,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-000.jpg",
"sha256": "c23120c71d5888edbc79ddfc3712840dc026535d6313423479cee047dbe94866",
"pose": [
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
"timestamp": 9651.694500605,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-001.jpg",
"sha256": "940ea010af3a83dd641ea4ffc625b2ba35bf62fc37bf77a01dc9db97ef24a881",
"pose": [
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
"timestamp": 9652.562508071,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-002.jpg",
"sha256": "4c5ff66c6635ba732a0432f9e641f4bb557c8657d008a027b96505cf148237d9",
"pose": [
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
"timestamp": 9653.364641777,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-003.jpg",
"sha256": "2be5182fd3392284260e800039ec14d3b68189d583084f1f910817081574f22d",
"pose": [
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
"timestamp": 9653.967484958,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-004.jpg",
"sha256": "9730dc53269bbed7781d6795d34d2de95b90a58d59c54066dfebf053d931edae",
"pose": [
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
"timestamp": 9654.566588834,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-005.jpg",
"sha256": "d04101cf0dc35dca3eecda236706f9bbc1f29c698aa1694a71b4299758104b7a",
"pose": [
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
"timestamp": 9655.10049139,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-006.jpg",
"sha256": "29628729abdf08bf93a04c292c8c4e69abb01dd05bd795e8d5fb9cc710ba49f0",
"pose": [
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
"timestamp": 9655.633777604,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-007.jpg",
"sha256": "99fccee0e96b6564c92ba81a08c44ef154cff23fe023658ad011bbcf4aeba5e9",
"pose": [
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
"timestamp": 9656.165297001,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-008.jpg",
"sha256": "54332eeca927e372a9a3b92ff7264f51ade7dcf62813ee56d5254aa25444cb11",
"pose": [
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
"timestamp": 9656.904110417,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-009.jpg",
"sha256": "d7f9df07219fd822b4e0b3e191631f09ff9c269f5b9217d7f6feb0e3c40b1a46",
"pose": [
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
"timestamp": 9657.436190954,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-000.jpg",
"sha256": "f98e71014a2ff324b365bf36fe05056d8336644b6b6c4c0b9da4f176414ac0b9",
"pose": [
2.5486322919784037,
0.47383234297646437,
0.27615815431776486
],
"timestamp": 9658.501981561,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-001.jpg",
"sha256": "22889956a096c333c9f755860adfa38e0f5b2d552f9ce118aea1317fbc9e4e33",
"pose": [
2.668975518110721,
0.5226311809385773,
0.36634412498448604
],
"timestamp": 9659.433682162,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-002.jpg",
"sha256": "d65b23badc2ad2c6339fe3bd5ad52a3e644ad679406121fff1edf2c7769e3b21",
"pose": [
2.7093030584210194,
0.5341810292263233,
0.4647852134303846
],
"timestamp": 9660.037273883,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-003.jpg",
"sha256": "ed88ac4777e4437c7c63cec98807be412cd35744650ac496ea33fe638979a31a",
"pose": [
2.7366822999504006,
0.541104757411701,
0.5282477121270054
],
"timestamp": 9660.437405294,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-004.jpg",
"sha256": "a0b7e8d490ea85c2044a8610f40c181a5f1476e21a83098ba601236ecc68d307",
"pose": [
2.7997468440222084,
0.5796303355989587,
0.5372177429171877
],
"timestamp": 9661.173687225,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-005.jpg",
"sha256": "4676416469a25db0485193d976b548484daf39402eb676cd9d9f641b34757f86",
"pose": [
2.8743868986922054,
0.6254563377089981,
0.5650432147573998
],
"timestamp": 9661.77418584,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-006.jpg",
"sha256": "5e0a802904773b271e58558346c62e68047d2c3638acd5119aac807269382a1b",
"pose": [
2.979181965771598,
0.685584251711323,
0.4544016144403487
],
"timestamp": 9662.639741599,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-007.jpg",
"sha256": "b593f2d366f5564ad81e9c52654221d451b3fadb4cc2de845693f1b4757b92e7",
"pose": [
3.076467305048357,
0.7308578209711767,
0.3655543482098235
],
"timestamp": 9663.509754931,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-008.jpg",
"sha256": "c9bdcc8f6bbb3f6587f4ee9405fadf0e10ad7d5b5d1d357d845a4a4e379c3147",
"pose": [
3.186157859990168,
0.7741025176536409,
0.3155987405997137
],
"timestamp": 9664.31070789,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-009.jpg",
"sha256": "ef10eb8d46f94424da8593242dc8002b1f891eef19e3e27cef9163fd38281332",
"pose": [
3.187039281671232,
0.7760073337491363,
0.3270649593190515
],
"timestamp": 9664.442823934,
"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 streetsign, return to the orange fence you've seen before</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": [
[
0.1262872815132141,
0.04030601680278778,
0.2527029514312744
],
[
0.12959472591988871,
-0.0032543086133097025,
-0.011563003063201904
],
[
0.13206359446610477,
-0.0025015481196172425,
-0.04850837588310242
],
[
0.14305411337235924,
-0.0074149748885653545,
-0.060226649045944214
],
[
0.14378099264929872,
-0.013053840149796006,
-0.21057817339897156
],
[
0.12047002363260614,
-0.009327675944636224,
-0.007681533694267272
],
[
0.12730242300685568,
-0.003937493277155542,
0.10601571574807167
],
[
0.11691242409359283,
-0.005743652097903406,
-0.010838481597602367
],
[
0.1018240701579878,
-0.0020959640845909866,
-0.037199915386736386
],
[
0.05178567106944802,
-0.00038449683729272345,
-0.008920177817344666
]
],
"stop": false,
"plan": null,
"raw": "<apos_984><opos_559><act_l0_240><act_l1_165><act_l2_29><|im_end|>",
"waypoints": [
[
0.1262872815132141,
0.04030601680278778,
0.2527029514312744
],
[
0.2525797486305237,
0.0695565938949585,
0.2411399483680725
],
[
0.38141965866088867,
0.0986654981970787,
0.1926315724849701
],
[
0.5232473611831665,
0.11877430230379105,
0.13240492343902588
],
[
0.6674932241439819,
0.12481645494699478,
-0.07817324995994568
],
[
0.7868669033050537,
0.10610932111740112,
-0.08585478365421295
],
[
0.9133628010749817,
0.09127023071050644,
0.02016093209385872
],
[
1.0303672552108765,
0.08788464963436127,
0.009322450496256351
],
[
1.1322064399719238,
0.08673801273107529,
-0.02787746489048004
],
[
1.183961272239685,
0.08491019904613495,
-0.03679764270782471
]
],
"pointing": {
"apos": 984,
"opos": 559
},
"rvq_codes": [
240,
165,
29
],
"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 streetsign, return to the orange fence you've seen before</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,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
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 streetsign, return to the orange fence you've seen before</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,
832
],
"attention_mask": [
1,
832
],
"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,
832
],
"mm_token_type_ids": [
1,
832
]
}
},
"history_fps": 4
},
"native_latency_ms": 521.27192215994
},
"response": {
"type": "step",
"actions": [
[
0.1262872815132141,
0.04030601680278778,
0.2527029514312744
],
[
0.12959472591988871,
-0.0032543086133097025,
-0.011563003063201904
],
[
0.13206359446610477,
-0.0025015481196172425,
-0.04850837588310242
],
[
0.14305411337235924,
-0.0074149748885653545,
-0.060226649045944214
],
[
0.14378099264929872,
-0.013053840149796006,
-0.21057817339897156
],
[
0.12047002363260614,
-0.009327675944636224,
-0.007681533694267272
],
[
0.12730242300685568,
-0.003937493277155542,
0.10601571574807167
],
[
0.11691242409359283,
-0.005743652097903406,
-0.010838481597602367
],
[
0.1018240701579878,
-0.0020959640845909866,
-0.037199915386736386
],
[
0.05178567106944802,
-0.00038449683729272345,
-0.008920177817344666
],
[
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-20261019-180142-7992c767",
"inference_id": 4,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.712061027996242,
"peak_memory_bytes": 9505009664,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 12008292352,
"load_count": 1,
"total_seconds": 0.7162379827350378
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.1262872815132141,
0.04030601680278778,
0.2527029514312744
],
[
0.2525797486305236,
0.06955659389495848,
0.2411399483680725
],
[
0.38141965866088867,
0.09866549819707869,
0.1926315724849701
],
[
0.5232473611831665,
0.11877430230379103,
0.1324049234390259
],
[
0.6674932241439819,
0.12481645494699477,
-0.07817324995994565
],
[
0.7868669033050537,
0.10610932111740111,
-0.08585478365421292
],
[
0.9133628010749817,
0.09127023071050644,
0.020160932093858743
],
[
1.0303672552108765,
0.08788464963436127,
0.009322450496256376
],
[
1.1322064399719238,
0.08673801273107529,
-0.02787746489048001
],
[
1.183961272239685,
0.08491019904613496,
-0.03679764270782467
]
],
"observed_poses": [
[
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
[
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
[
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
[
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
[
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
[
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
[
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
[
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
[
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
[
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
[
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
[
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
[
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
[
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
[
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
[
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
[
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
[
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
[
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
[
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
[
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
[
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
[
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
[
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
[
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
[
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
[
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
[
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
[
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
[
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
[
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
[
2.5486322919784037,
0.47383234297646437,
0.27615815431776486
],
[
2.668975518110721,
0.5226311809385773,
0.36634412498448604
],
[
2.7093030584210194,
0.5341810292263233,
0.4647852134303846
],
[
2.7366822999504006,
0.541104757411701,
0.5282477121270054
],
[
2.7997468440222084,
0.5796303355989587,
0.5372177429171877
],
[
2.8743868986922054,
0.6254563377089981,
0.5650432147573998
],
[
2.979181965771598,
0.685584251711323,
0.4544016144403487
],
[
3.076467305048357,
0.7308578209711767,
0.3655543482098235
],
[
3.186157859990168,
0.7741025176536409,
0.3155987405997137
],
[
3.187039281671232,
0.7760073337491363,
0.3270649593190515
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the streetsign, return to the orange fence you've seen before",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000000/input-000.jpg",
"sha256": "534fa5425ae5b1e3acd9cf85cff40e250b5a4324a9687f17ea609f6c631672f2",
"pose": [
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
"timestamp": 9635.02579115,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-002.jpg",
"sha256": "7da9eb8a0cdcc11b1fae27f1970a216d1460c3fc766aebcaf3991e62a8c68973",
"pose": [
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
"timestamp": 9637.748685199,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-003.jpg",
"sha256": "a0d69af424df4f9cc660566651aba36d7ee34c0bef58c8ceea3c196d6a962433",
"pose": [
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
"timestamp": 9638.549616941,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-006.jpg",
"sha256": "450036af09b36864a4bbb2118dca262751e66aec971a0e9d011bfeedcf984c75",
"pose": [
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
"timestamp": 9641.555446458,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-007.jpg",
"sha256": "16b3abb7a8a1c010fd9dc48283930752cde726d500dfdf7a2b10eb6174e20885",
"pose": [
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
"timestamp": 9642.288625843,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-008.jpg",
"sha256": "727c831169c360b697eef85443e0f07e37684dbebe41c90ce526a38dbd70fcd2",
"pose": [
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
"timestamp": 9643.486326663,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-009.jpg",
"sha256": "8284abd20da3c188f286a073ce94dcabaffd21b9ae2a8f6ad813e001fb3b4a42",
"pose": [
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
"timestamp": 9644.022417332,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-000.jpg",
"sha256": "54a8e12f98fb77c333ff784d13056024584bf3a658602e6a9835232da7487e50",
"pose": [
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
"timestamp": 9645.289759219,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-001.jpg",
"sha256": "2ba6c64d5ed1f1538bab10af60a7dd2575f5b39f427a90507771661585e4c45c",
"pose": [
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
"timestamp": 9645.891634653,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-002.jpg",
"sha256": "57c119bf5d4abc5da5db1ec179cfc69f391fec507b8c47fc30ec57ebe7fda323",
"pose": [
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
"timestamp": 9646.422376037,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-003.jpg",
"sha256": "08339a7af4ee31f89932b2b8bcb9502b40fa27306302ec6892778b5abac0fe60",
"pose": [
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
"timestamp": 9647.024119594,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-004.jpg",
"sha256": "d6713871b85bf388826aeaa6e8f291a82eff7f1c611b91b5e99425af6b412330",
"pose": [
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
"timestamp": 9647.559220307,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-005.jpg",
"sha256": "91b4c35a66e2f4ae2fd414b891250cbf58d08f91a36c157ad69b5bd681f6ac4b",
"pose": [
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
"timestamp": 9648.158383288,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-006.jpg",
"sha256": "54c8048b4f74ce2bc4f5dac4246e192c40483849a5038dafc2b766797da4d472",
"pose": [
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
"timestamp": 9648.694472229,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-007.jpg",
"sha256": "8962b7caffe9e53286726d135e2200fef5f1bbec0bd2dcd79b5f40811cbeeccd",
"pose": [
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
"timestamp": 9649.294747252,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-008.jpg",
"sha256": "6258fc64d3a1a9cca1611d363c19f5a4e81ae3d57beb31b2fa8944c0b7ff4fca",
"pose": [
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
"timestamp": 9649.894004061,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-009.jpg",
"sha256": "a741d079975a9058f0b100163469052bc83e838471db6396c6743f3fe3016b71",
"pose": [
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
"timestamp": 9650.225514955,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-000.jpg",
"sha256": "c23120c71d5888edbc79ddfc3712840dc026535d6313423479cee047dbe94866",
"pose": [
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
"timestamp": 9651.694500605,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-001.jpg",
"sha256": "940ea010af3a83dd641ea4ffc625b2ba35bf62fc37bf77a01dc9db97ef24a881",
"pose": [
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
"timestamp": 9652.562508071,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-002.jpg",
"sha256": "4c5ff66c6635ba732a0432f9e641f4bb557c8657d008a027b96505cf148237d9",
"pose": [
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
"timestamp": 9653.364641777,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-003.jpg",
"sha256": "2be5182fd3392284260e800039ec14d3b68189d583084f1f910817081574f22d",
"pose": [
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
"timestamp": 9653.967484958,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-004.jpg",
"sha256": "9730dc53269bbed7781d6795d34d2de95b90a58d59c54066dfebf053d931edae",
"pose": [
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
"timestamp": 9654.566588834,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-005.jpg",
"sha256": "d04101cf0dc35dca3eecda236706f9bbc1f29c698aa1694a71b4299758104b7a",
"pose": [
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
"timestamp": 9655.10049139,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-006.jpg",
"sha256": "29628729abdf08bf93a04c292c8c4e69abb01dd05bd795e8d5fb9cc710ba49f0",
"pose": [
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
"timestamp": 9655.633777604,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-007.jpg",
"sha256": "99fccee0e96b6564c92ba81a08c44ef154cff23fe023658ad011bbcf4aeba5e9",
"pose": [
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
"timestamp": 9656.165297001,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-008.jpg",
"sha256": "54332eeca927e372a9a3b92ff7264f51ade7dcf62813ee56d5254aa25444cb11",
"pose": [
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
"timestamp": 9656.904110417,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-009.jpg",
"sha256": "d7f9df07219fd822b4e0b3e191631f09ff9c269f5b9217d7f6feb0e3c40b1a46",
"pose": [
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
"timestamp": 9657.436190954,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-000.jpg",
"sha256": "f98e71014a2ff324b365bf36fe05056d8336644b6b6c4c0b9da4f176414ac0b9",
"pose": [
2.5486322919784037,
0.47383234297646437,
0.27615815431776486
],
"timestamp": 9658.501981561,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-001.jpg",
"sha256": "22889956a096c333c9f755860adfa38e0f5b2d552f9ce118aea1317fbc9e4e33",
"pose": [
2.668975518110721,
0.5226311809385773,
0.36634412498448604
],
"timestamp": 9659.433682162,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-002.jpg",
"sha256": "d65b23badc2ad2c6339fe3bd5ad52a3e644ad679406121fff1edf2c7769e3b21",
"pose": [
2.7093030584210194,
0.5341810292263233,
0.4647852134303846
],
"timestamp": 9660.037273883,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-003.jpg",
"sha256": "ed88ac4777e4437c7c63cec98807be412cd35744650ac496ea33fe638979a31a",
"pose": [
2.7366822999504006,
0.541104757411701,
0.5282477121270054
],
"timestamp": 9660.437405294,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-004.jpg",
"sha256": "a0b7e8d490ea85c2044a8610f40c181a5f1476e21a83098ba601236ecc68d307",
"pose": [
2.7997468440222084,
0.5796303355989587,
0.5372177429171877
],
"timestamp": 9661.173687225,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-005.jpg",
"sha256": "4676416469a25db0485193d976b548484daf39402eb676cd9d9f641b34757f86",
"pose": [
2.8743868986922054,
0.6254563377089981,
0.5650432147573998
],
"timestamp": 9661.77418584,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-006.jpg",
"sha256": "5e0a802904773b271e58558346c62e68047d2c3638acd5119aac807269382a1b",
"pose": [
2.979181965771598,
0.685584251711323,
0.4544016144403487
],
"timestamp": 9662.639741599,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-007.jpg",
"sha256": "b593f2d366f5564ad81e9c52654221d451b3fadb4cc2de845693f1b4757b92e7",
"pose": [
3.076467305048357,
0.7308578209711767,
0.3655543482098235
],
"timestamp": 9663.509754931,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-008.jpg",
"sha256": "c9bdcc8f6bbb3f6587f4ee9405fadf0e10ad7d5b5d1d357d845a4a4e379c3147",
"pose": [
3.186157859990168,
0.7741025176536409,
0.3155987405997137
],
"timestamp": 9664.31070789,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-009.jpg",
"sha256": "ef10eb8d46f94424da8593242dc8002b1f891eef19e3e27cef9163fd38281332",
"pose": [
3.187039281671232,
0.7760073337491363,
0.3270649593190515
],
"timestamp": 9664.442823934,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-000.jpg",
"sha256": "f2ace9056e4f080969743c7fce5e7e955e5bf5fde1ab75c70684e3ff1704a27d",
"pose": [
3.2571461593162185,
0.8139628378585589,
0.5527716385174751
],
"timestamp": 9667.312738195,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-001.jpg",
"sha256": "a14062020fcf0e867e6154caf52a289b1036ad3ed8e9498e19ab589ec019e699",
"pose": [
3.330980657876753,
0.8696001514280601,
0.5451910012276183
],
"timestamp": 9668.046359676,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-002.jpg",
"sha256": "43525b9b5fc4716fbf2752e70dc8d7da8824f99284bdbc35f6b52473a776bc76",
"pose": [
3.4009333924648733,
0.918600640613778,
0.5321942630344814
],
"timestamp": 9669.116125213,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-003.jpg",
"sha256": "8052dbbfa1841d90d78a650c12b6a4fbe70c9f294aee0b9a9986fba752b52a77",
"pose": [
3.4876928554464692,
0.9695492876505826,
0.493905063486824
],
"timestamp": 9669.848949097,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-004.jpg",
"sha256": "56c0c5b62a795ef419361d94bcc5589aeb1f645395ccd9bf570f924c556e413c",
"pose": [
3.5800875962955314,
1.022080881404114,
0.30910998951792595
],
"timestamp": 9670.78281477,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-005.jpg",
"sha256": "7ac61567ccad44309b05a636a368aa87f5939e1c2c6ff1888fb58df525ef49f0",
"pose": [
3.659178568520467,
1.0422313599019128,
0.31398733613424157
],
"timestamp": 9671.316091127,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-006.jpg",
"sha256": "5e32b3e8053cc149df50f0c7ab86f97e298e20f484574ca9905b576807cc5d70",
"pose": [
3.746317227708793,
1.0622071478851467,
0.41262634857338615
],
"timestamp": 9672.32021245,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-007.jpg",
"sha256": "006024891600dd6d5bb1c2494876dc5c57572d3956df8c3076032d80c1eb60d6",
"pose": [
3.8106480591199694,
1.0920248628102445,
0.40250981407044806
],
"timestamp": 9672.919011802,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-008.jpg",
"sha256": "06fd527f112fbbd2dbe805c18725de891df93540d40e97d43f0a8779f75cd1c1",
"pose": [
3.870271413452008,
1.1157807633110055,
0.40978341737006535
],
"timestamp": 9673.452717807,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-009.jpg",
"sha256": "8b1f7b9e86ae95351a53408277493cd5f063f41dcb96334e00abfa8045e89ef2",
"pose": [
3.8749908495784067,
1.117842062004974,
0.41504222766144555
],
"timestamp": 9673.653356574,
"observation_id": 50
}
],
"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,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50
],
"model": "lightnav",
"pose_conditioning": "not fed to these REAL adapters",
"client_plan_used": false,
"history_sampling": {
"method": "nearest captured observation per occupied 4Hz bin; empty bins omitted",
"max_capture_gap_s": 2.8699142610003037,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
7,
8,
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
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
7,
8,
13,
14
],
"tensor": "processed/segment1.pt",
"shape": [
4,
3,
256,
448
]
},
{
"indices": [
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
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
47,
48
],
"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:<11.9 seconds><|vision_start|><|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 streetsign, return to the orange fence you've seen before</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,
16,
13,
24,
6486,
29,
151652,
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,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
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:<11.9 seconds><|vision_start|><|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 streetsign, return to the orange fence you've seen before</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,
870
],
"attention_mask": [
1,
870
],
"pixel_values_videos": [
1,
8960,
1536
],
"video_grid_thw": [
4,
3
],
"_original_video_grid_thw": [
4,
3
],
"_post_vit_pool_factors": [
4
],
"position_ids": [
1,
3,
870
],
"mm_token_type_ids": [
1,
870
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-007.jpg",
"sha256": "16b3abb7a8a1c010fd9dc48283930752cde726d500dfdf7a2b10eb6174e20885",
"pose": [
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
"timestamp": 9642.288625843,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-008.jpg",
"sha256": "727c831169c360b697eef85443e0f07e37684dbebe41c90ce526a38dbd70fcd2",
"pose": [
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
"timestamp": 9643.486326663,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-003.jpg",
"sha256": "08339a7af4ee31f89932b2b8bcb9502b40fa27306302ec6892778b5abac0fe60",
"pose": [
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
"timestamp": 9647.024119594,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-004.jpg",
"sha256": "d6713871b85bf388826aeaa6e8f291a82eff7f1c611b91b5e99425af6b412330",
"pose": [
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
"timestamp": 9647.559220307,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-005.jpg",
"sha256": "91b4c35a66e2f4ae2fd414b891250cbf58d08f91a36c157ad69b5bd681f6ac4b",
"pose": [
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
"timestamp": 9648.158383288,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-006.jpg",
"sha256": "54c8048b4f74ce2bc4f5dac4246e192c40483849a5038dafc2b766797da4d472",
"pose": [
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
"timestamp": 9648.694472229,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-007.jpg",
"sha256": "8962b7caffe9e53286726d135e2200fef5f1bbec0bd2dcd79b5f40811cbeeccd",
"pose": [
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
"timestamp": 9649.294747252,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-008.jpg",
"sha256": "6258fc64d3a1a9cca1611d363c19f5a4e81ae3d57beb31b2fa8944c0b7ff4fca",
"pose": [
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
"timestamp": 9649.894004061,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-009.jpg",
"sha256": "a741d079975a9058f0b100163469052bc83e838471db6396c6743f3fe3016b71",
"pose": [
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
"timestamp": 9650.225514955,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-000.jpg",
"sha256": "c23120c71d5888edbc79ddfc3712840dc026535d6313423479cee047dbe94866",
"pose": [
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
"timestamp": 9651.694500605,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-001.jpg",
"sha256": "940ea010af3a83dd641ea4ffc625b2ba35bf62fc37bf77a01dc9db97ef24a881",
"pose": [
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
"timestamp": 9652.562508071,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-002.jpg",
"sha256": "4c5ff66c6635ba732a0432f9e641f4bb557c8657d008a027b96505cf148237d9",
"pose": [
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
"timestamp": 9653.364641777,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-003.jpg",
"sha256": "2be5182fd3392284260e800039ec14d3b68189d583084f1f910817081574f22d",
"pose": [
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
"timestamp": 9653.967484958,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-004.jpg",
"sha256": "9730dc53269bbed7781d6795d34d2de95b90a58d59c54066dfebf053d931edae",
"pose": [
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
"timestamp": 9654.566588834,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-005.jpg",
"sha256": "d04101cf0dc35dca3eecda236706f9bbc1f29c698aa1694a71b4299758104b7a",
"pose": [
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
"timestamp": 9655.10049139,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-006.jpg",
"sha256": "29628729abdf08bf93a04c292c8c4e69abb01dd05bd795e8d5fb9cc710ba49f0",
"pose": [
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
"timestamp": 9655.633777604,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-007.jpg",
"sha256": "99fccee0e96b6564c92ba81a08c44ef154cff23fe023658ad011bbcf4aeba5e9",
"pose": [
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
"timestamp": 9656.165297001,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-008.jpg",
"sha256": "54332eeca927e372a9a3b92ff7264f51ade7dcf62813ee56d5254aa25444cb11",
"pose": [
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
"timestamp": 9656.904110417,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-009.jpg",
"sha256": "d7f9df07219fd822b4e0b3e191631f09ff9c269f5b9217d7f6feb0e3c40b1a46",
"pose": [
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
"timestamp": 9657.436190954,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-000.jpg",
"sha256": "f98e71014a2ff324b365bf36fe05056d8336644b6b6c4c0b9da4f176414ac0b9",
"pose": [
2.5486322919784037,
0.47383234297646437,
0.27615815431776486
],
"timestamp": 9658.501981561,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-001.jpg",
"sha256": "22889956a096c333c9f755860adfa38e0f5b2d552f9ce118aea1317fbc9e4e33",
"pose": [
2.668975518110721,
0.5226311809385773,
0.36634412498448604
],
"timestamp": 9659.433682162,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-002.jpg",
"sha256": "d65b23badc2ad2c6339fe3bd5ad52a3e644ad679406121fff1edf2c7769e3b21",
"pose": [
2.7093030584210194,
0.5341810292263233,
0.4647852134303846
],
"timestamp": 9660.037273883,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-003.jpg",
"sha256": "ed88ac4777e4437c7c63cec98807be412cd35744650ac496ea33fe638979a31a",
"pose": [
2.7366822999504006,
0.541104757411701,
0.5282477121270054
],
"timestamp": 9660.437405294,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-004.jpg",
"sha256": "a0b7e8d490ea85c2044a8610f40c181a5f1476e21a83098ba601236ecc68d307",
"pose": [
2.7997468440222084,
0.5796303355989587,
0.5372177429171877
],
"timestamp": 9661.173687225,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-005.jpg",
"sha256": "4676416469a25db0485193d976b548484daf39402eb676cd9d9f641b34757f86",
"pose": [
2.8743868986922054,
0.6254563377089981,
0.5650432147573998
],
"timestamp": 9661.77418584,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-006.jpg",
"sha256": "5e0a802904773b271e58558346c62e68047d2c3638acd5119aac807269382a1b",
"pose": [
2.979181965771598,
0.685584251711323,
0.4544016144403487
],
"timestamp": 9662.639741599,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-007.jpg",
"sha256": "b593f2d366f5564ad81e9c52654221d451b3fadb4cc2de845693f1b4757b92e7",
"pose": [
3.076467305048357,
0.7308578209711767,
0.3655543482098235
],
"timestamp": 9663.509754931,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-009.jpg",
"sha256": "ef10eb8d46f94424da8593242dc8002b1f891eef19e3e27cef9163fd38281332",
"pose": [
3.187039281671232,
0.7760073337491363,
0.3270649593190515
],
"timestamp": 9664.442823934,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-000.jpg",
"sha256": "f2ace9056e4f080969743c7fce5e7e955e5bf5fde1ab75c70684e3ff1704a27d",
"pose": [
3.2571461593162185,
0.8139628378585589,
0.5527716385174751
],
"timestamp": 9667.312738195,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-001.jpg",
"sha256": "a14062020fcf0e867e6154caf52a289b1036ad3ed8e9498e19ab589ec019e699",
"pose": [
3.330980657876753,
0.8696001514280601,
0.5451910012276183
],
"timestamp": 9668.046359676,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-002.jpg",
"sha256": "43525b9b5fc4716fbf2752e70dc8d7da8824f99284bdbc35f6b52473a776bc76",
"pose": [
3.4009333924648733,
0.918600640613778,
0.5321942630344814
],
"timestamp": 9669.116125213,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-003.jpg",
"sha256": "8052dbbfa1841d90d78a650c12b6a4fbe70c9f294aee0b9a9986fba752b52a77",
"pose": [
3.4876928554464692,
0.9695492876505826,
0.493905063486824
],
"timestamp": 9669.848949097,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-004.jpg",
"sha256": "56c0c5b62a795ef419361d94bcc5589aeb1f645395ccd9bf570f924c556e413c",
"pose": [
3.5800875962955314,
1.022080881404114,
0.30910998951792595
],
"timestamp": 9670.78281477,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-005.jpg",
"sha256": "7ac61567ccad44309b05a636a368aa87f5939e1c2c6ff1888fb58df525ef49f0",
"pose": [
3.659178568520467,
1.0422313599019128,
0.31398733613424157
],
"timestamp": 9671.316091127,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-006.jpg",
"sha256": "5e32b3e8053cc149df50f0c7ab86f97e298e20f484574ca9905b576807cc5d70",
"pose": [
3.746317227708793,
1.0622071478851467,
0.41262634857338615
],
"timestamp": 9672.32021245,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-007.jpg",
"sha256": "006024891600dd6d5bb1c2494876dc5c57572d3956df8c3076032d80c1eb60d6",
"pose": [
3.8106480591199694,
1.0920248628102445,
0.40250981407044806
],
"timestamp": 9672.919011802,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-008.jpg",
"sha256": "06fd527f112fbbd2dbe805c18725de891df93540d40e97d43f0a8779f75cd1c1",
"pose": [
3.870271413452008,
1.1157807633110055,
0.40978341737006535
],
"timestamp": 9673.452717807,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-009.jpg",
"sha256": "8b1f7b9e86ae95351a53408277493cd5f063f41dcb96334e00abfa8045e89ef2",
"pose": [
3.8749908495784067,
1.117842062004974,
0.41504222766144555
],
"timestamp": 9673.653356574,
"observation_id": 50
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<11.9 seconds><|vision_start|><|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 streetsign, return to the orange fence you've seen before</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": [
[
0.14989043772220612,
0.003126945113763213,
0.03537634387612343
],
[
0.11891102079539627,
0.0037115491345327337,
0.06774860247969627
],
[
0.09809384656458763,
0.00981560275631486,
0.1121421754360199
],
[
0.1068730086023698,
0.008343276421383099,
0.12686783075332642
],
[
0.11196919695996173,
-0.0003746426072778891,
-0.012781709432601929
],
[
0.1151939565247595,
0.0015218820702556507,
-0.0009267628192901611
],
[
0.12199036908784645,
-0.009971983320175279,
-0.09842689335346222
],
[
0.12761108009300964,
-0.0055279190695355016,
-0.09832330048084259
],
[
0.132568497153808,
-0.0035262423855574997,
-0.07203777506947517
],
[
0.009407196727355668,
-0.0002860274633575584,
-0.049157138913869865
]
],
"stop": false,
"plan": null,
"raw": "<apos_1030><opos_562><act_l0_252><act_l1_74><act_l2_35><|im_end|>",
"waypoints": [
[
0.14989043772220612,
0.003126945113763213,
0.03537634387612343
],
[
0.26859578490257263,
0.011041931807994843,
0.1031249463558197
],
[
0.3651580512523651,
0.030903389677405357,
0.2152671217918396
],
[
0.4677821695804596,
0.061883069574832916,
0.342134952545166
],
[
0.5733873844146729,
0.09909570217132568,
0.3293532431125641
],
[
0.6818976402282715,
0.13779309391975403,
0.3284264802932739
],
[
0.8005842566490173,
0.1677025854587555,
0.2299995869398117
],
[
0.9260951280593872,
0.19141264259815216,
0.13167628645896912
],
[
1.0579789876937866,
0.20532265305519104,
0.05963851138949394
],
[
1.067386507987976,
0.20559783279895782,
0.010481372475624084
]
],
"pointing": {
"apos": 1030,
"opos": 562
},
"rvq_codes": [
252,
74,
35
],
"model_input": {
"history_indices": [
0,
1,
7,
8,
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
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
7,
8,
13,
14
],
"tensor": "processed/segment1.pt",
"shape": [
4,
3,
256,
448
]
},
{
"indices": [
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
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
47,
48
],
"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:<11.9 seconds><|vision_start|><|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 streetsign, return to the orange fence you've seen before</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,
16,
13,
24,
6486,
29,
151652,
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,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
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:<11.9 seconds><|vision_start|><|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 streetsign, return to the orange fence you've seen before</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,
870
],
"attention_mask": [
1,
870
],
"pixel_values_videos": [
1,
8960,
1536
],
"video_grid_thw": [
4,
3
],
"_original_video_grid_thw": [
4,
3
],
"_post_vit_pool_factors": [
4
],
"position_ids": [
1,
3,
870
],
"mm_token_type_ids": [
1,
870
]
}
},
"history_fps": 4
},
"native_latency_ms": 522.8697168640792
},
"response": {
"type": "step",
"actions": [
[
0.14989043772220612,
0.003126945113763213,
0.03537634387612343
],
[
0.11891102079539627,
0.0037115491345327337,
0.06774860247969627
],
[
0.09809384656458763,
0.00981560275631486,
0.1121421754360199
],
[
0.1068730086023698,
0.008343276421383099,
0.12686783075332642
],
[
0.11196919695996173,
-0.0003746426072778891,
-0.012781709432601929
],
[
0.1151939565247595,
0.0015218820702556507,
-0.0009267628192901611
],
[
0.12199036908784645,
-0.009971983320175279,
-0.09842689335346222
],
[
0.12761108009300964,
-0.0055279190695355016,
-0.09832330048084259
],
[
0.132568497153808,
-0.0035262423855574997,
-0.07203777506947517
],
[
0.009407196727355668,
-0.0002860274633575584,
-0.049157138913869865
],
[
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-20261019-180142-7992c767",
"inference_id": 5,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.7327154339291155,
"peak_memory_bytes": 9527015936,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 12008292352,
"load_count": 1,
"total_seconds": 0.7378180790692568
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.14989043772220612,
0.003126945113763213,
0.03537634387612343
],
[
0.26859578490257263,
0.011041931807994843,
0.1031249463558197
],
[
0.3651580512523651,
0.030903389677405357,
0.2152671217918396
],
[
0.4677821695804596,
0.061883069574832916,
0.342134952545166
],
[
0.5733873844146727,
0.09909570217132568,
0.3293532431125641
],
[
0.6818976402282714,
0.13779309391975403,
0.3284264802932739
],
[
0.8005842566490172,
0.1677025854587555,
0.2299995869398117
],
[
0.9260951280593871,
0.19141264259815216,
0.13167628645896912
],
[
1.0579789876937866,
0.20532265305519104,
0.05963851138949394
],
[
1.067386507987976,
0.20559783279895782,
0.010481372475624078
]
],
"observed_poses": [
[
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
[
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
[
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
[
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
[
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
[
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
[
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
[
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
[
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
[
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
[
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
[
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
[
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
[
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
[
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
[
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
[
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
[
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
[
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
[
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
[
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
[
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
[
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
[
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
[
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
[
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
[
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
[
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
[
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
[
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
[
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
[
2.5486322919784037,
0.47383234297646437,
0.27615815431776486
],
[
2.668975518110721,
0.5226311809385773,
0.36634412498448604
],
[
2.7093030584210194,
0.5341810292263233,
0.4647852134303846
],
[
2.7366822999504006,
0.541104757411701,
0.5282477121270054
],
[
2.7997468440222084,
0.5796303355989587,
0.5372177429171877
],
[
2.8743868986922054,
0.6254563377089981,
0.5650432147573998
],
[
2.979181965771598,
0.685584251711323,
0.4544016144403487
],
[
3.076467305048357,
0.7308578209711767,
0.3655543482098235
],
[
3.186157859990168,
0.7741025176536409,
0.3155987405997137
],
[
3.187039281671232,
0.7760073337491363,
0.3270649593190515
],
[
3.2571461593162185,
0.8139628378585589,
0.5527716385174751
],
[
3.330980657876753,
0.8696001514280601,
0.5451910012276183
],
[
3.4009333924648733,
0.918600640613778,
0.5321942630344814
],
[
3.4876928554464692,
0.9695492876505826,
0.493905063486824
],
[
3.5800875962955314,
1.022080881404114,
0.30910998951792595
],
[
3.659178568520467,
1.0422313599019128,
0.31398733613424157
],
[
3.746317227708793,
1.0622071478851467,
0.41262634857338615
],
[
3.8106480591199694,
1.0920248628102445,
0.40250981407044806
],
[
3.870271413452008,
1.1157807633110055,
0.40978341737006535
],
[
3.8749908495784067,
1.117842062004974,
0.41504222766144555
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the streetsign, return to the orange fence you've seen before",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000000/input-000.jpg",
"sha256": "534fa5425ae5b1e3acd9cf85cff40e250b5a4324a9687f17ea609f6c631672f2",
"pose": [
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
"timestamp": 9635.02579115,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-002.jpg",
"sha256": "7da9eb8a0cdcc11b1fae27f1970a216d1460c3fc766aebcaf3991e62a8c68973",
"pose": [
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
"timestamp": 9637.748685199,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-003.jpg",
"sha256": "a0d69af424df4f9cc660566651aba36d7ee34c0bef58c8ceea3c196d6a962433",
"pose": [
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
"timestamp": 9638.549616941,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-006.jpg",
"sha256": "450036af09b36864a4bbb2118dca262751e66aec971a0e9d011bfeedcf984c75",
"pose": [
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
"timestamp": 9641.555446458,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-007.jpg",
"sha256": "16b3abb7a8a1c010fd9dc48283930752cde726d500dfdf7a2b10eb6174e20885",
"pose": [
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
"timestamp": 9642.288625843,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-008.jpg",
"sha256": "727c831169c360b697eef85443e0f07e37684dbebe41c90ce526a38dbd70fcd2",
"pose": [
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
"timestamp": 9643.486326663,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-009.jpg",
"sha256": "8284abd20da3c188f286a073ce94dcabaffd21b9ae2a8f6ad813e001fb3b4a42",
"pose": [
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
"timestamp": 9644.022417332,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-000.jpg",
"sha256": "54a8e12f98fb77c333ff784d13056024584bf3a658602e6a9835232da7487e50",
"pose": [
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
"timestamp": 9645.289759219,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-001.jpg",
"sha256": "2ba6c64d5ed1f1538bab10af60a7dd2575f5b39f427a90507771661585e4c45c",
"pose": [
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
"timestamp": 9645.891634653,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-002.jpg",
"sha256": "57c119bf5d4abc5da5db1ec179cfc69f391fec507b8c47fc30ec57ebe7fda323",
"pose": [
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
"timestamp": 9646.422376037,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-003.jpg",
"sha256": "08339a7af4ee31f89932b2b8bcb9502b40fa27306302ec6892778b5abac0fe60",
"pose": [
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
"timestamp": 9647.024119594,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-004.jpg",
"sha256": "d6713871b85bf388826aeaa6e8f291a82eff7f1c611b91b5e99425af6b412330",
"pose": [
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
"timestamp": 9647.559220307,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-005.jpg",
"sha256": "91b4c35a66e2f4ae2fd414b891250cbf58d08f91a36c157ad69b5bd681f6ac4b",
"pose": [
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
"timestamp": 9648.158383288,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-006.jpg",
"sha256": "54c8048b4f74ce2bc4f5dac4246e192c40483849a5038dafc2b766797da4d472",
"pose": [
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
"timestamp": 9648.694472229,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-007.jpg",
"sha256": "8962b7caffe9e53286726d135e2200fef5f1bbec0bd2dcd79b5f40811cbeeccd",
"pose": [
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
"timestamp": 9649.294747252,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-008.jpg",
"sha256": "6258fc64d3a1a9cca1611d363c19f5a4e81ae3d57beb31b2fa8944c0b7ff4fca",
"pose": [
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
"timestamp": 9649.894004061,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-009.jpg",
"sha256": "a741d079975a9058f0b100163469052bc83e838471db6396c6743f3fe3016b71",
"pose": [
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
"timestamp": 9650.225514955,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-000.jpg",
"sha256": "c23120c71d5888edbc79ddfc3712840dc026535d6313423479cee047dbe94866",
"pose": [
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
"timestamp": 9651.694500605,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-001.jpg",
"sha256": "940ea010af3a83dd641ea4ffc625b2ba35bf62fc37bf77a01dc9db97ef24a881",
"pose": [
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
"timestamp": 9652.562508071,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-002.jpg",
"sha256": "4c5ff66c6635ba732a0432f9e641f4bb557c8657d008a027b96505cf148237d9",
"pose": [
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
"timestamp": 9653.364641777,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-003.jpg",
"sha256": "2be5182fd3392284260e800039ec14d3b68189d583084f1f910817081574f22d",
"pose": [
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
"timestamp": 9653.967484958,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-004.jpg",
"sha256": "9730dc53269bbed7781d6795d34d2de95b90a58d59c54066dfebf053d931edae",
"pose": [
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
"timestamp": 9654.566588834,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-005.jpg",
"sha256": "d04101cf0dc35dca3eecda236706f9bbc1f29c698aa1694a71b4299758104b7a",
"pose": [
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
"timestamp": 9655.10049139,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-006.jpg",
"sha256": "29628729abdf08bf93a04c292c8c4e69abb01dd05bd795e8d5fb9cc710ba49f0",
"pose": [
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
"timestamp": 9655.633777604,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-007.jpg",
"sha256": "99fccee0e96b6564c92ba81a08c44ef154cff23fe023658ad011bbcf4aeba5e9",
"pose": [
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
"timestamp": 9656.165297001,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-008.jpg",
"sha256": "54332eeca927e372a9a3b92ff7264f51ade7dcf62813ee56d5254aa25444cb11",
"pose": [
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
"timestamp": 9656.904110417,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-009.jpg",
"sha256": "d7f9df07219fd822b4e0b3e191631f09ff9c269f5b9217d7f6feb0e3c40b1a46",
"pose": [
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
"timestamp": 9657.436190954,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-000.jpg",
"sha256": "f98e71014a2ff324b365bf36fe05056d8336644b6b6c4c0b9da4f176414ac0b9",
"pose": [
2.5486322919784037,
0.47383234297646437,
0.27615815431776486
],
"timestamp": 9658.501981561,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-001.jpg",
"sha256": "22889956a096c333c9f755860adfa38e0f5b2d552f9ce118aea1317fbc9e4e33",
"pose": [
2.668975518110721,
0.5226311809385773,
0.36634412498448604
],
"timestamp": 9659.433682162,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-002.jpg",
"sha256": "d65b23badc2ad2c6339fe3bd5ad52a3e644ad679406121fff1edf2c7769e3b21",
"pose": [
2.7093030584210194,
0.5341810292263233,
0.4647852134303846
],
"timestamp": 9660.037273883,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-003.jpg",
"sha256": "ed88ac4777e4437c7c63cec98807be412cd35744650ac496ea33fe638979a31a",
"pose": [
2.7366822999504006,
0.541104757411701,
0.5282477121270054
],
"timestamp": 9660.437405294,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-004.jpg",
"sha256": "a0b7e8d490ea85c2044a8610f40c181a5f1476e21a83098ba601236ecc68d307",
"pose": [
2.7997468440222084,
0.5796303355989587,
0.5372177429171877
],
"timestamp": 9661.173687225,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-005.jpg",
"sha256": "4676416469a25db0485193d976b548484daf39402eb676cd9d9f641b34757f86",
"pose": [
2.8743868986922054,
0.6254563377089981,
0.5650432147573998
],
"timestamp": 9661.77418584,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-006.jpg",
"sha256": "5e0a802904773b271e58558346c62e68047d2c3638acd5119aac807269382a1b",
"pose": [
2.979181965771598,
0.685584251711323,
0.4544016144403487
],
"timestamp": 9662.639741599,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-007.jpg",
"sha256": "b593f2d366f5564ad81e9c52654221d451b3fadb4cc2de845693f1b4757b92e7",
"pose": [
3.076467305048357,
0.7308578209711767,
0.3655543482098235
],
"timestamp": 9663.509754931,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-008.jpg",
"sha256": "c9bdcc8f6bbb3f6587f4ee9405fadf0e10ad7d5b5d1d357d845a4a4e379c3147",
"pose": [
3.186157859990168,
0.7741025176536409,
0.3155987405997137
],
"timestamp": 9664.31070789,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-009.jpg",
"sha256": "ef10eb8d46f94424da8593242dc8002b1f891eef19e3e27cef9163fd38281332",
"pose": [
3.187039281671232,
0.7760073337491363,
0.3270649593190515
],
"timestamp": 9664.442823934,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-000.jpg",
"sha256": "f2ace9056e4f080969743c7fce5e7e955e5bf5fde1ab75c70684e3ff1704a27d",
"pose": [
3.2571461593162185,
0.8139628378585589,
0.5527716385174751
],
"timestamp": 9667.312738195,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-001.jpg",
"sha256": "a14062020fcf0e867e6154caf52a289b1036ad3ed8e9498e19ab589ec019e699",
"pose": [
3.330980657876753,
0.8696001514280601,
0.5451910012276183
],
"timestamp": 9668.046359676,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-002.jpg",
"sha256": "43525b9b5fc4716fbf2752e70dc8d7da8824f99284bdbc35f6b52473a776bc76",
"pose": [
3.4009333924648733,
0.918600640613778,
0.5321942630344814
],
"timestamp": 9669.116125213,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-003.jpg",
"sha256": "8052dbbfa1841d90d78a650c12b6a4fbe70c9f294aee0b9a9986fba752b52a77",
"pose": [
3.4876928554464692,
0.9695492876505826,
0.493905063486824
],
"timestamp": 9669.848949097,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-004.jpg",
"sha256": "56c0c5b62a795ef419361d94bcc5589aeb1f645395ccd9bf570f924c556e413c",
"pose": [
3.5800875962955314,
1.022080881404114,
0.30910998951792595
],
"timestamp": 9670.78281477,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-005.jpg",
"sha256": "7ac61567ccad44309b05a636a368aa87f5939e1c2c6ff1888fb58df525ef49f0",
"pose": [
3.659178568520467,
1.0422313599019128,
0.31398733613424157
],
"timestamp": 9671.316091127,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-006.jpg",
"sha256": "5e32b3e8053cc149df50f0c7ab86f97e298e20f484574ca9905b576807cc5d70",
"pose": [
3.746317227708793,
1.0622071478851467,
0.41262634857338615
],
"timestamp": 9672.32021245,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-007.jpg",
"sha256": "006024891600dd6d5bb1c2494876dc5c57572d3956df8c3076032d80c1eb60d6",
"pose": [
3.8106480591199694,
1.0920248628102445,
0.40250981407044806
],
"timestamp": 9672.919011802,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-008.jpg",
"sha256": "06fd527f112fbbd2dbe805c18725de891df93540d40e97d43f0a8779f75cd1c1",
"pose": [
3.870271413452008,
1.1157807633110055,
0.40978341737006535
],
"timestamp": 9673.452717807,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-009.jpg",
"sha256": "8b1f7b9e86ae95351a53408277493cd5f063f41dcb96334e00abfa8045e89ef2",
"pose": [
3.8749908495784067,
1.117842062004974,
0.41504222766144555
],
"timestamp": 9673.653356574,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-000.jpg",
"sha256": "69ad1b6ec0645a848b2736c8a5dc7cb37b276eb7a5d9adecdf3e39ff63437ebb",
"pose": [
3.951091107693874,
1.1602860348891675,
0.4366035855566352
],
"timestamp": 9676.388444065,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-001.jpg",
"sha256": "d2414442d0aadc700ba6e479c6e0b03a46e557dedb221906aaa98cb6e49eecc6",
"pose": [
4.019029751860756,
1.1942191519232437,
0.48024165070338143
],
"timestamp": 9676.922276955,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-002.jpg",
"sha256": "1b0e18d17bf62b1a022e29ece64826243349bd5359c259bbf0eb5564b7af4218",
"pose": [
4.062093724420502,
1.234296250415141,
0.5829091418700486
],
"timestamp": 9677.524971171,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-003.jpg",
"sha256": "4e2c464dea0bf4c6d1fcb45ada722deaea3afc1ce7f0a311d39bc7ccf5433866",
"pose": [
4.118052122660133,
1.2730522194929677,
0.6972111027430123
],
"timestamp": 9678.055076019,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-004.jpg",
"sha256": "a570b463221a0cd034c48b5ed2124f33a4865b25daf55d56826b606d314badfc",
"pose": [
4.1667243231627396,
1.3203368398012678,
0.710455671638073
],
"timestamp": 9678.588807658,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-005.jpg",
"sha256": "14a59ea912481b404508af7af8f504339c9751864643dec6b1aea35d013914fb",
"pose": [
4.219931984215173,
1.3673091738166558,
0.7167310918544385
],
"timestamp": 9679.188793614,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-006.jpg",
"sha256": "8b1907e78fcdf8486713e499127a0ba901dd2b186981e1fc3007fb3e8c4ab43d",
"pose": [
4.275327233427406,
1.4175362563196745,
0.6494735918393635
],
"timestamp": 9679.925100602,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-007.jpg",
"sha256": "67443a3939ee4ed90111fc345ba39268b5f108b79dc6794ea2e78ceac788b2a0",
"pose": [
4.346407645761325,
1.4602535356607498,
0.5853211353059824
],
"timestamp": 9680.462478583,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-008.jpg",
"sha256": "60b8ff5b6f32b1012a6c3f798327feeb808b8b00e517ad8d72e4a2fd7f0f7d0f",
"pose": [
4.415186862155725,
1.5097563434172931,
0.5525175838233886
],
"timestamp": 9681.12789665,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-009.jpg",
"sha256": "6ecd75420c33a5041dd6553942bc1ea8f6ba84c97155b47433c8ed9ed895fc98",
"pose": [
4.413849855498578,
1.5084506746269226,
0.5395904769862396
],
"timestamp": 9681.325402021,
"observation_id": 60
}
],
"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,
41,
42,
43,
44,
45,
46,
47,
48,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60
],
"model": "lightnav",
"pose_conditioning": "not fed to these REAL adapters",
"client_plan_used": false,
"history_sampling": {
"method": "nearest captured observation per occupied 4Hz bin; empty bins omitted",
"max_capture_gap_s": 2.8699142610003037,
"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 streetsign, return to the orange fence you've seen before</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,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
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 streetsign, return to the orange fence you've seen before</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,
944
],
"attention_mask": [
1,
944
],
"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,
944
],
"mm_token_type_ids": [
1,
944
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000000/input-000.jpg",
"sha256": "534fa5425ae5b1e3acd9cf85cff40e250b5a4324a9687f17ea609f6c631672f2",
"pose": [
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
"timestamp": 9635.02579115,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-000.jpg",
"sha256": "54a8e12f98fb77c333ff784d13056024584bf3a658602e6a9835232da7487e50",
"pose": [
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
"timestamp": 9645.289759219,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-001.jpg",
"sha256": "2ba6c64d5ed1f1538bab10af60a7dd2575f5b39f427a90507771661585e4c45c",
"pose": [
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
"timestamp": 9645.891634653,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-006.jpg",
"sha256": "54c8048b4f74ce2bc4f5dac4246e192c40483849a5038dafc2b766797da4d472",
"pose": [
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
"timestamp": 9648.694472229,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-007.jpg",
"sha256": "8962b7caffe9e53286726d135e2200fef5f1bbec0bd2dcd79b5f40811cbeeccd",
"pose": [
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
"timestamp": 9649.294747252,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-002.jpg",
"sha256": "4c5ff66c6635ba732a0432f9e641f4bb557c8657d008a027b96505cf148237d9",
"pose": [
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
"timestamp": 9653.364641777,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-003.jpg",
"sha256": "2be5182fd3392284260e800039ec14d3b68189d583084f1f910817081574f22d",
"pose": [
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
"timestamp": 9653.967484958,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-004.jpg",
"sha256": "9730dc53269bbed7781d6795d34d2de95b90a58d59c54066dfebf053d931edae",
"pose": [
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
"timestamp": 9654.566588834,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-005.jpg",
"sha256": "d04101cf0dc35dca3eecda236706f9bbc1f29c698aa1694a71b4299758104b7a",
"pose": [
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
"timestamp": 9655.10049139,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-006.jpg",
"sha256": "29628729abdf08bf93a04c292c8c4e69abb01dd05bd795e8d5fb9cc710ba49f0",
"pose": [
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
"timestamp": 9655.633777604,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-007.jpg",
"sha256": "99fccee0e96b6564c92ba81a08c44ef154cff23fe023658ad011bbcf4aeba5e9",
"pose": [
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
"timestamp": 9656.165297001,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-008.jpg",
"sha256": "54332eeca927e372a9a3b92ff7264f51ade7dcf62813ee56d5254aa25444cb11",
"pose": [
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
"timestamp": 9656.904110417,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-009.jpg",
"sha256": "d7f9df07219fd822b4e0b3e191631f09ff9c269f5b9217d7f6feb0e3c40b1a46",
"pose": [
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
"timestamp": 9657.436190954,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-000.jpg",
"sha256": "f98e71014a2ff324b365bf36fe05056d8336644b6b6c4c0b9da4f176414ac0b9",
"pose": [
2.5486322919784037,
0.47383234297646437,
0.27615815431776486
],
"timestamp": 9658.501981561,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-001.jpg",
"sha256": "22889956a096c333c9f755860adfa38e0f5b2d552f9ce118aea1317fbc9e4e33",
"pose": [
2.668975518110721,
0.5226311809385773,
0.36634412498448604
],
"timestamp": 9659.433682162,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-002.jpg",
"sha256": "d65b23badc2ad2c6339fe3bd5ad52a3e644ad679406121fff1edf2c7769e3b21",
"pose": [
2.7093030584210194,
0.5341810292263233,
0.4647852134303846
],
"timestamp": 9660.037273883,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-003.jpg",
"sha256": "ed88ac4777e4437c7c63cec98807be412cd35744650ac496ea33fe638979a31a",
"pose": [
2.7366822999504006,
0.541104757411701,
0.5282477121270054
],
"timestamp": 9660.437405294,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-004.jpg",
"sha256": "a0b7e8d490ea85c2044a8610f40c181a5f1476e21a83098ba601236ecc68d307",
"pose": [
2.7997468440222084,
0.5796303355989587,
0.5372177429171877
],
"timestamp": 9661.173687225,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-005.jpg",
"sha256": "4676416469a25db0485193d976b548484daf39402eb676cd9d9f641b34757f86",
"pose": [
2.8743868986922054,
0.6254563377089981,
0.5650432147573998
],
"timestamp": 9661.77418584,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-006.jpg",
"sha256": "5e0a802904773b271e58558346c62e68047d2c3638acd5119aac807269382a1b",
"pose": [
2.979181965771598,
0.685584251711323,
0.4544016144403487
],
"timestamp": 9662.639741599,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-007.jpg",
"sha256": "b593f2d366f5564ad81e9c52654221d451b3fadb4cc2de845693f1b4757b92e7",
"pose": [
3.076467305048357,
0.7308578209711767,
0.3655543482098235
],
"timestamp": 9663.509754931,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-008.jpg",
"sha256": "c9bdcc8f6bbb3f6587f4ee9405fadf0e10ad7d5b5d1d357d845a4a4e379c3147",
"pose": [
3.186157859990168,
0.7741025176536409,
0.3155987405997137
],
"timestamp": 9664.31070789,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-000.jpg",
"sha256": "f2ace9056e4f080969743c7fce5e7e955e5bf5fde1ab75c70684e3ff1704a27d",
"pose": [
3.2571461593162185,
0.8139628378585589,
0.5527716385174751
],
"timestamp": 9667.312738195,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-001.jpg",
"sha256": "a14062020fcf0e867e6154caf52a289b1036ad3ed8e9498e19ab589ec019e699",
"pose": [
3.330980657876753,
0.8696001514280601,
0.5451910012276183
],
"timestamp": 9668.046359676,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-002.jpg",
"sha256": "43525b9b5fc4716fbf2752e70dc8d7da8824f99284bdbc35f6b52473a776bc76",
"pose": [
3.4009333924648733,
0.918600640613778,
0.5321942630344814
],
"timestamp": 9669.116125213,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-003.jpg",
"sha256": "8052dbbfa1841d90d78a650c12b6a4fbe70c9f294aee0b9a9986fba752b52a77",
"pose": [
3.4876928554464692,
0.9695492876505826,
0.493905063486824
],
"timestamp": 9669.848949097,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-004.jpg",
"sha256": "56c0c5b62a795ef419361d94bcc5589aeb1f645395ccd9bf570f924c556e413c",
"pose": [
3.5800875962955314,
1.022080881404114,
0.30910998951792595
],
"timestamp": 9670.78281477,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-005.jpg",
"sha256": "7ac61567ccad44309b05a636a368aa87f5939e1c2c6ff1888fb58df525ef49f0",
"pose": [
3.659178568520467,
1.0422313599019128,
0.31398733613424157
],
"timestamp": 9671.316091127,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-006.jpg",
"sha256": "5e32b3e8053cc149df50f0c7ab86f97e298e20f484574ca9905b576807cc5d70",
"pose": [
3.746317227708793,
1.0622071478851467,
0.41262634857338615
],
"timestamp": 9672.32021245,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-007.jpg",
"sha256": "006024891600dd6d5bb1c2494876dc5c57572d3956df8c3076032d80c1eb60d6",
"pose": [
3.8106480591199694,
1.0920248628102445,
0.40250981407044806
],
"timestamp": 9672.919011802,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-009.jpg",
"sha256": "8b1f7b9e86ae95351a53408277493cd5f063f41dcb96334e00abfa8045e89ef2",
"pose": [
3.8749908495784067,
1.117842062004974,
0.41504222766144555
],
"timestamp": 9673.653356574,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-000.jpg",
"sha256": "69ad1b6ec0645a848b2736c8a5dc7cb37b276eb7a5d9adecdf3e39ff63437ebb",
"pose": [
3.951091107693874,
1.1602860348891675,
0.4366035855566352
],
"timestamp": 9676.388444065,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-001.jpg",
"sha256": "d2414442d0aadc700ba6e479c6e0b03a46e557dedb221906aaa98cb6e49eecc6",
"pose": [
4.019029751860756,
1.1942191519232437,
0.48024165070338143
],
"timestamp": 9676.922276955,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-002.jpg",
"sha256": "1b0e18d17bf62b1a022e29ece64826243349bd5359c259bbf0eb5564b7af4218",
"pose": [
4.062093724420502,
1.234296250415141,
0.5829091418700486
],
"timestamp": 9677.524971171,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-003.jpg",
"sha256": "4e2c464dea0bf4c6d1fcb45ada722deaea3afc1ce7f0a311d39bc7ccf5433866",
"pose": [
4.118052122660133,
1.2730522194929677,
0.6972111027430123
],
"timestamp": 9678.055076019,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-004.jpg",
"sha256": "a570b463221a0cd034c48b5ed2124f33a4865b25daf55d56826b606d314badfc",
"pose": [
4.1667243231627396,
1.3203368398012678,
0.710455671638073
],
"timestamp": 9678.588807658,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-005.jpg",
"sha256": "14a59ea912481b404508af7af8f504339c9751864643dec6b1aea35d013914fb",
"pose": [
4.219931984215173,
1.3673091738166558,
0.7167310918544385
],
"timestamp": 9679.188793614,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-006.jpg",
"sha256": "8b1907e78fcdf8486713e499127a0ba901dd2b186981e1fc3007fb3e8c4ab43d",
"pose": [
4.275327233427406,
1.4175362563196745,
0.6494735918393635
],
"timestamp": 9679.925100602,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-007.jpg",
"sha256": "67443a3939ee4ed90111fc345ba39268b5f108b79dc6794ea2e78ceac788b2a0",
"pose": [
4.346407645761325,
1.4602535356607498,
0.5853211353059824
],
"timestamp": 9680.462478583,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-008.jpg",
"sha256": "60b8ff5b6f32b1012a6c3f798327feeb808b8b00e517ad8d72e4a2fd7f0f7d0f",
"pose": [
4.415186862155725,
1.5097563434172931,
0.5525175838233886
],
"timestamp": 9681.12789665,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-009.jpg",
"sha256": "6ecd75420c33a5041dd6553942bc1ea8f6ba84c97155b47433c8ed9ed895fc98",
"pose": [
4.413849855498578,
1.5084506746269226,
0.5395904769862396
],
"timestamp": 9681.325402021,
"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 streetsign, return to the orange fence you've seen before</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": [
[
0.14978940784931183,
0.013177848421037197,
0.10386277735233308
],
[
0.11624776231973809,
0.004313011199894724,
0.0711531788110733
],
[
0.10542902546746065,
0.0032000456273458544,
0.013828933238983154
],
[
0.11430308633634984,
-0.0033337400885213447,
-0.02052418887615204
],
[
0.1212296593178294,
-0.003576551691382237,
-0.049311764538288116
],
[
0.12355383753964519,
-0.0018020526376665638,
-0.014328405261039734
],
[
0.12712994056978041,
0.0014603420149030353,
0.013179436326026918
],
[
0.12596898976574814,
-0.0006831540212050759,
0.021189473569393158
],
[
0.13095014184728707,
-0.0015391220381864336,
-0.1566222682595253
],
[
0.06915597383955001,
-0.0003920218052338635,
-0.05666061490774155
]
],
"stop": false,
"plan": null,
"raw": "<apos_981><opos_610><act_l0_204><act_l1_74><act_l2_181><|im_end|>",
"waypoints": [
[
0.14978940784931183,
0.013177848421037197,
0.10386277735233307
],
[
0.2649635672569275,
0.029519736766815186,
0.17501595616340637
],
[
0.3682248294353485,
0.05102860555052757,
0.18884488940238953
],
[
0.48112162947654724,
0.06921161711215973,
0.1683207005262375
],
[
0.6012371778488159,
0.08599485456943512,
0.11900893598794937
],
[
0.7241310477256775,
0.09887487441301346,
0.10468053072690964
],
[
0.8504124879837036,
0.11361096054315567,
0.11785996705293655
],
[
0.9755879044532776,
0.1277448982000351,
0.1390494406223297
],
[
1.1054874658584595,
0.14437055587768555,
-0.017572827637195587
],
[
1.1746258735656738,
0.1427633911371231,
-0.07423344254493713
]
],
"pointing": {
"apos": 981,
"opos": 610
},
"rvq_codes": [
204,
74,
181
],
"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 streetsign, return to the orange fence you've seen before</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,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
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 streetsign, return to the orange fence you've seen before</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,
944
],
"attention_mask": [
1,
944
],
"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,
944
],
"mm_token_type_ids": [
1,
944
]
}
},
"history_fps": 4
},
"native_latency_ms": 466.90754825249314
},
"response": {
"type": "step",
"actions": [
[
0.14978940784931183,
0.013177848421037197,
0.10386277735233308
],
[
0.11624776231973809,
0.004313011199894724,
0.0711531788110733
],
[
0.10542902546746065,
0.0032000456273458544,
0.013828933238983154
],
[
0.11430308633634984,
-0.0033337400885213447,
-0.02052418887615204
],
[
0.1212296593178294,
-0.003576551691382237,
-0.049311764538288116
],
[
0.12355383753964519,
-0.0018020526376665638,
-0.014328405261039734
],
[
0.12712994056978041,
0.0014603420149030353,
0.013179436326026918
],
[
0.12596898976574814,
-0.0006831540212050759,
0.021189473569393158
],
[
0.13095014184728707,
-0.0015391220381864336,
-0.1566222682595253
],
[
0.06915597383955001,
-0.0003920218052338635,
-0.05666061490774155
],
[
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-20261019-180142-7992c767",
"inference_id": 6,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.6960796471685171,
"peak_memory_bytes": 9566144512,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 12008292352,
"load_count": 1,
"total_seconds": 0.7008516173809767
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.14978940784931183,
0.013177848421037197,
0.1038627773523331
],
[
0.26496356725692743,
0.029519736766815192,
0.1750159561634064
],
[
0.36822482943534846,
0.05102860555052758,
0.18884488940238955
],
[
0.4811216294765472,
0.06921161711215974,
0.16832070052623752
],
[
0.6012371778488158,
0.08599485456943515,
0.1190089359879494
],
[
0.7241310477256775,
0.0988748744130135,
0.10468053072690967
],
[
0.8504124879837035,
0.11361096054315571,
0.11785996705293658
],
[
0.9755879044532775,
0.12774489820003512,
0.13904944062232974
],
[
1.1054874658584593,
0.14437055587768557,
-0.01757282763719556
],
[
1.1746258735656736,
0.14276339113712314,
-0.0742334425449371
]
],
"observed_poses": [
[
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
[
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
[
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
[
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
[
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
[
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
[
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
[
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
[
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
[
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
[
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
[
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
[
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
[
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
[
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
[
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
[
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
[
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
[
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
[
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
[
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
[
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
[
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
[
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
[
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
[
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
[
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
[
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
[
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
[
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
[
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
[
2.5486322919784037,
0.47383234297646437,
0.27615815431776486
],
[
2.668975518110721,
0.5226311809385773,
0.36634412498448604
],
[
2.7093030584210194,
0.5341810292263233,
0.4647852134303846
],
[
2.7366822999504006,
0.541104757411701,
0.5282477121270054
],
[
2.7997468440222084,
0.5796303355989587,
0.5372177429171877
],
[
2.8743868986922054,
0.6254563377089981,
0.5650432147573998
],
[
2.979181965771598,
0.685584251711323,
0.4544016144403487
],
[
3.076467305048357,
0.7308578209711767,
0.3655543482098235
],
[
3.186157859990168,
0.7741025176536409,
0.3155987405997137
],
[
3.187039281671232,
0.7760073337491363,
0.3270649593190515
],
[
3.2571461593162185,
0.8139628378585589,
0.5527716385174751
],
[
3.330980657876753,
0.8696001514280601,
0.5451910012276183
],
[
3.4009333924648733,
0.918600640613778,
0.5321942630344814
],
[
3.4876928554464692,
0.9695492876505826,
0.493905063486824
],
[
3.5800875962955314,
1.022080881404114,
0.30910998951792595
],
[
3.659178568520467,
1.0422313599019128,
0.31398733613424157
],
[
3.746317227708793,
1.0622071478851467,
0.41262634857338615
],
[
3.8106480591199694,
1.0920248628102445,
0.40250981407044806
],
[
3.870271413452008,
1.1157807633110055,
0.40978341737006535
],
[
3.8749908495784067,
1.117842062004974,
0.41504222766144555
],
[
3.951091107693874,
1.1602860348891675,
0.4366035855566352
],
[
4.019029751860756,
1.1942191519232437,
0.48024165070338143
],
[
4.062093724420502,
1.234296250415141,
0.5829091418700486
],
[
4.118052122660133,
1.2730522194929677,
0.6972111027430123
],
[
4.1667243231627396,
1.3203368398012678,
0.710455671638073
],
[
4.219931984215173,
1.3673091738166558,
0.7167310918544385
],
[
4.275327233427406,
1.4175362563196745,
0.6494735918393635
],
[
4.346407645761325,
1.4602535356607498,
0.5853211353059824
],
[
4.415186862155725,
1.5097563434172931,
0.5525175838233886
],
[
4.413849855498578,
1.5084506746269226,
0.5395904769862396
]
]
}
Local predicted trajectory; measured poses are in trajectory.json.
{
"instruction": "go to the streetsign, return to the orange fence you've seen before",
"all_observations": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000000/input-000.jpg",
"sha256": "534fa5425ae5b1e3acd9cf85cff40e250b5a4324a9687f17ea609f6c631672f2",
"pose": [
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
"timestamp": 9635.02579115,
"observation_id": 0
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-002.jpg",
"sha256": "7da9eb8a0cdcc11b1fae27f1970a216d1460c3fc766aebcaf3991e62a8c68973",
"pose": [
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
"timestamp": 9637.748685199,
"observation_id": 3
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-003.jpg",
"sha256": "a0d69af424df4f9cc660566651aba36d7ee34c0bef58c8ceea3c196d6a962433",
"pose": [
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
"timestamp": 9638.549616941,
"observation_id": 4
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-006.jpg",
"sha256": "450036af09b36864a4bbb2118dca262751e66aec971a0e9d011bfeedcf984c75",
"pose": [
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
"timestamp": 9641.555446458,
"observation_id": 7
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-007.jpg",
"sha256": "16b3abb7a8a1c010fd9dc48283930752cde726d500dfdf7a2b10eb6174e20885",
"pose": [
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
"timestamp": 9642.288625843,
"observation_id": 8
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-008.jpg",
"sha256": "727c831169c360b697eef85443e0f07e37684dbebe41c90ce526a38dbd70fcd2",
"pose": [
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
"timestamp": 9643.486326663,
"observation_id": 9
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-009.jpg",
"sha256": "8284abd20da3c188f286a073ce94dcabaffd21b9ae2a8f6ad813e001fb3b4a42",
"pose": [
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
"timestamp": 9644.022417332,
"observation_id": 10
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-000.jpg",
"sha256": "54a8e12f98fb77c333ff784d13056024584bf3a658602e6a9835232da7487e50",
"pose": [
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
"timestamp": 9645.289759219,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-001.jpg",
"sha256": "2ba6c64d5ed1f1538bab10af60a7dd2575f5b39f427a90507771661585e4c45c",
"pose": [
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
"timestamp": 9645.891634653,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-002.jpg",
"sha256": "57c119bf5d4abc5da5db1ec179cfc69f391fec507b8c47fc30ec57ebe7fda323",
"pose": [
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
"timestamp": 9646.422376037,
"observation_id": 13
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-003.jpg",
"sha256": "08339a7af4ee31f89932b2b8bcb9502b40fa27306302ec6892778b5abac0fe60",
"pose": [
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
"timestamp": 9647.024119594,
"observation_id": 14
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-004.jpg",
"sha256": "d6713871b85bf388826aeaa6e8f291a82eff7f1c611b91b5e99425af6b412330",
"pose": [
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
"timestamp": 9647.559220307,
"observation_id": 15
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-005.jpg",
"sha256": "91b4c35a66e2f4ae2fd414b891250cbf58d08f91a36c157ad69b5bd681f6ac4b",
"pose": [
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
"timestamp": 9648.158383288,
"observation_id": 16
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-006.jpg",
"sha256": "54c8048b4f74ce2bc4f5dac4246e192c40483849a5038dafc2b766797da4d472",
"pose": [
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
"timestamp": 9648.694472229,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-007.jpg",
"sha256": "8962b7caffe9e53286726d135e2200fef5f1bbec0bd2dcd79b5f40811cbeeccd",
"pose": [
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
"timestamp": 9649.294747252,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-008.jpg",
"sha256": "6258fc64d3a1a9cca1611d363c19f5a4e81ae3d57beb31b2fa8944c0b7ff4fca",
"pose": [
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
"timestamp": 9649.894004061,
"observation_id": 19
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-009.jpg",
"sha256": "a741d079975a9058f0b100163469052bc83e838471db6396c6743f3fe3016b71",
"pose": [
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
"timestamp": 9650.225514955,
"observation_id": 20
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-000.jpg",
"sha256": "c23120c71d5888edbc79ddfc3712840dc026535d6313423479cee047dbe94866",
"pose": [
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
"timestamp": 9651.694500605,
"observation_id": 21
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-001.jpg",
"sha256": "940ea010af3a83dd641ea4ffc625b2ba35bf62fc37bf77a01dc9db97ef24a881",
"pose": [
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
"timestamp": 9652.562508071,
"observation_id": 22
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-002.jpg",
"sha256": "4c5ff66c6635ba732a0432f9e641f4bb557c8657d008a027b96505cf148237d9",
"pose": [
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
"timestamp": 9653.364641777,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-003.jpg",
"sha256": "2be5182fd3392284260e800039ec14d3b68189d583084f1f910817081574f22d",
"pose": [
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
"timestamp": 9653.967484958,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-004.jpg",
"sha256": "9730dc53269bbed7781d6795d34d2de95b90a58d59c54066dfebf053d931edae",
"pose": [
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
"timestamp": 9654.566588834,
"observation_id": 25
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-005.jpg",
"sha256": "d04101cf0dc35dca3eecda236706f9bbc1f29c698aa1694a71b4299758104b7a",
"pose": [
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
"timestamp": 9655.10049139,
"observation_id": 26
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-006.jpg",
"sha256": "29628729abdf08bf93a04c292c8c4e69abb01dd05bd795e8d5fb9cc710ba49f0",
"pose": [
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
"timestamp": 9655.633777604,
"observation_id": 27
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-007.jpg",
"sha256": "99fccee0e96b6564c92ba81a08c44ef154cff23fe023658ad011bbcf4aeba5e9",
"pose": [
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
"timestamp": 9656.165297001,
"observation_id": 28
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-008.jpg",
"sha256": "54332eeca927e372a9a3b92ff7264f51ade7dcf62813ee56d5254aa25444cb11",
"pose": [
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
"timestamp": 9656.904110417,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-009.jpg",
"sha256": "d7f9df07219fd822b4e0b3e191631f09ff9c269f5b9217d7f6feb0e3c40b1a46",
"pose": [
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
"timestamp": 9657.436190954,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-000.jpg",
"sha256": "f98e71014a2ff324b365bf36fe05056d8336644b6b6c4c0b9da4f176414ac0b9",
"pose": [
2.5486322919784037,
0.47383234297646437,
0.27615815431776486
],
"timestamp": 9658.501981561,
"observation_id": 31
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-001.jpg",
"sha256": "22889956a096c333c9f755860adfa38e0f5b2d552f9ce118aea1317fbc9e4e33",
"pose": [
2.668975518110721,
0.5226311809385773,
0.36634412498448604
],
"timestamp": 9659.433682162,
"observation_id": 32
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-002.jpg",
"sha256": "d65b23badc2ad2c6339fe3bd5ad52a3e644ad679406121fff1edf2c7769e3b21",
"pose": [
2.7093030584210194,
0.5341810292263233,
0.4647852134303846
],
"timestamp": 9660.037273883,
"observation_id": 33
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-003.jpg",
"sha256": "ed88ac4777e4437c7c63cec98807be412cd35744650ac496ea33fe638979a31a",
"pose": [
2.7366822999504006,
0.541104757411701,
0.5282477121270054
],
"timestamp": 9660.437405294,
"observation_id": 34
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-004.jpg",
"sha256": "a0b7e8d490ea85c2044a8610f40c181a5f1476e21a83098ba601236ecc68d307",
"pose": [
2.7997468440222084,
0.5796303355989587,
0.5372177429171877
],
"timestamp": 9661.173687225,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-005.jpg",
"sha256": "4676416469a25db0485193d976b548484daf39402eb676cd9d9f641b34757f86",
"pose": [
2.8743868986922054,
0.6254563377089981,
0.5650432147573998
],
"timestamp": 9661.77418584,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-006.jpg",
"sha256": "5e0a802904773b271e58558346c62e68047d2c3638acd5119aac807269382a1b",
"pose": [
2.979181965771598,
0.685584251711323,
0.4544016144403487
],
"timestamp": 9662.639741599,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-007.jpg",
"sha256": "b593f2d366f5564ad81e9c52654221d451b3fadb4cc2de845693f1b4757b92e7",
"pose": [
3.076467305048357,
0.7308578209711767,
0.3655543482098235
],
"timestamp": 9663.509754931,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-008.jpg",
"sha256": "c9bdcc8f6bbb3f6587f4ee9405fadf0e10ad7d5b5d1d357d845a4a4e379c3147",
"pose": [
3.186157859990168,
0.7741025176536409,
0.3155987405997137
],
"timestamp": 9664.31070789,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-009.jpg",
"sha256": "ef10eb8d46f94424da8593242dc8002b1f891eef19e3e27cef9163fd38281332",
"pose": [
3.187039281671232,
0.7760073337491363,
0.3270649593190515
],
"timestamp": 9664.442823934,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-000.jpg",
"sha256": "f2ace9056e4f080969743c7fce5e7e955e5bf5fde1ab75c70684e3ff1704a27d",
"pose": [
3.2571461593162185,
0.8139628378585589,
0.5527716385174751
],
"timestamp": 9667.312738195,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-001.jpg",
"sha256": "a14062020fcf0e867e6154caf52a289b1036ad3ed8e9498e19ab589ec019e699",
"pose": [
3.330980657876753,
0.8696001514280601,
0.5451910012276183
],
"timestamp": 9668.046359676,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-002.jpg",
"sha256": "43525b9b5fc4716fbf2752e70dc8d7da8824f99284bdbc35f6b52473a776bc76",
"pose": [
3.4009333924648733,
0.918600640613778,
0.5321942630344814
],
"timestamp": 9669.116125213,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-003.jpg",
"sha256": "8052dbbfa1841d90d78a650c12b6a4fbe70c9f294aee0b9a9986fba752b52a77",
"pose": [
3.4876928554464692,
0.9695492876505826,
0.493905063486824
],
"timestamp": 9669.848949097,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-004.jpg",
"sha256": "56c0c5b62a795ef419361d94bcc5589aeb1f645395ccd9bf570f924c556e413c",
"pose": [
3.5800875962955314,
1.022080881404114,
0.30910998951792595
],
"timestamp": 9670.78281477,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-005.jpg",
"sha256": "7ac61567ccad44309b05a636a368aa87f5939e1c2c6ff1888fb58df525ef49f0",
"pose": [
3.659178568520467,
1.0422313599019128,
0.31398733613424157
],
"timestamp": 9671.316091127,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-006.jpg",
"sha256": "5e32b3e8053cc149df50f0c7ab86f97e298e20f484574ca9905b576807cc5d70",
"pose": [
3.746317227708793,
1.0622071478851467,
0.41262634857338615
],
"timestamp": 9672.32021245,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-007.jpg",
"sha256": "006024891600dd6d5bb1c2494876dc5c57572d3956df8c3076032d80c1eb60d6",
"pose": [
3.8106480591199694,
1.0920248628102445,
0.40250981407044806
],
"timestamp": 9672.919011802,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-008.jpg",
"sha256": "06fd527f112fbbd2dbe805c18725de891df93540d40e97d43f0a8779f75cd1c1",
"pose": [
3.870271413452008,
1.1157807633110055,
0.40978341737006535
],
"timestamp": 9673.452717807,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-009.jpg",
"sha256": "8b1f7b9e86ae95351a53408277493cd5f063f41dcb96334e00abfa8045e89ef2",
"pose": [
3.8749908495784067,
1.117842062004974,
0.41504222766144555
],
"timestamp": 9673.653356574,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-000.jpg",
"sha256": "69ad1b6ec0645a848b2736c8a5dc7cb37b276eb7a5d9adecdf3e39ff63437ebb",
"pose": [
3.951091107693874,
1.1602860348891675,
0.4366035855566352
],
"timestamp": 9676.388444065,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-001.jpg",
"sha256": "d2414442d0aadc700ba6e479c6e0b03a46e557dedb221906aaa98cb6e49eecc6",
"pose": [
4.019029751860756,
1.1942191519232437,
0.48024165070338143
],
"timestamp": 9676.922276955,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-002.jpg",
"sha256": "1b0e18d17bf62b1a022e29ece64826243349bd5359c259bbf0eb5564b7af4218",
"pose": [
4.062093724420502,
1.234296250415141,
0.5829091418700486
],
"timestamp": 9677.524971171,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-003.jpg",
"sha256": "4e2c464dea0bf4c6d1fcb45ada722deaea3afc1ce7f0a311d39bc7ccf5433866",
"pose": [
4.118052122660133,
1.2730522194929677,
0.6972111027430123
],
"timestamp": 9678.055076019,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-004.jpg",
"sha256": "a570b463221a0cd034c48b5ed2124f33a4865b25daf55d56826b606d314badfc",
"pose": [
4.1667243231627396,
1.3203368398012678,
0.710455671638073
],
"timestamp": 9678.588807658,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-005.jpg",
"sha256": "14a59ea912481b404508af7af8f504339c9751864643dec6b1aea35d013914fb",
"pose": [
4.219931984215173,
1.3673091738166558,
0.7167310918544385
],
"timestamp": 9679.188793614,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-006.jpg",
"sha256": "8b1907e78fcdf8486713e499127a0ba901dd2b186981e1fc3007fb3e8c4ab43d",
"pose": [
4.275327233427406,
1.4175362563196745,
0.6494735918393635
],
"timestamp": 9679.925100602,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-007.jpg",
"sha256": "67443a3939ee4ed90111fc345ba39268b5f108b79dc6794ea2e78ceac788b2a0",
"pose": [
4.346407645761325,
1.4602535356607498,
0.5853211353059824
],
"timestamp": 9680.462478583,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-008.jpg",
"sha256": "60b8ff5b6f32b1012a6c3f798327feeb808b8b00e517ad8d72e4a2fd7f0f7d0f",
"pose": [
4.415186862155725,
1.5097563434172931,
0.5525175838233886
],
"timestamp": 9681.12789665,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-009.jpg",
"sha256": "6ecd75420c33a5041dd6553942bc1ea8f6ba84c97155b47433c8ed9ed895fc98",
"pose": [
4.413849855498578,
1.5084506746269226,
0.5395904769862396
],
"timestamp": 9681.325402021,
"observation_id": 60
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-000.jpg",
"sha256": "b2f7effea072578116a634dc6b058e683f320187569bc8adadd611ce637c172b",
"pose": [
4.49041215258903,
1.5652570702387187,
0.6564428911447936
],
"timestamp": 9683.263868489,
"observation_id": 61
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-001.jpg",
"sha256": "7b876693b0243223fb9d2467d15c0454ef709b1427c6f680ed53041a30d27287",
"pose": [
4.536916508936175,
1.6192320820434187,
0.704195284729273
],
"timestamp": 9683.79485113,
"observation_id": 62
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-002.jpg",
"sha256": "6efa0309e3367be798ce05503a33188a128a28c42529026e4ea9eeaf2abf8d32",
"pose": [
4.586574365271545,
1.6603755182906852,
0.7149942399385993
],
"timestamp": 9684.328113471,
"observation_id": 63
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-003.jpg",
"sha256": "8f3774186a10c2262a6b37af844427bbeb0523203db0eeced7f88fdb9784f5b8",
"pose": [
4.638422320060417,
1.7113528690732493,
0.7174901254450861
],
"timestamp": 9684.929246157,
"observation_id": 64
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-004.jpg",
"sha256": "ea8d9e9bdc73a005bbadb49b9c9d69438c902b4cbbfe8f2a86102210ecb2d15b",
"pose": [
4.699061787938813,
1.7610096202324956,
0.6937262523784599
],
"timestamp": 9685.461465484,
"observation_id": 65
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-005.jpg",
"sha256": "f2e1902af3b26973a2cb3a70bb16ed69be271b77ee73b6c4e39223fcfcc1eda4",
"pose": [
4.7555351903059515,
1.8192376167178155,
0.6970228925561817
],
"timestamp": 9686.062269806,
"observation_id": 66
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-006.jpg",
"sha256": "f8a78e41432381d9969df66eea44d4ce24a1fa3819aa6a42adc6ca9298af52a8",
"pose": [
4.820524578156939,
1.870726812002476,
0.7125903431881617
],
"timestamp": 9686.596628475,
"observation_id": 67
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-007.jpg",
"sha256": "e5831a7c5284cc0e9a13d26f19bb0ae95e71efbfdd5fdccba6ae6a318ed2db54",
"pose": [
4.875589684925218,
1.927527801148666,
0.7192314356373821
],
"timestamp": 9687.198237147,
"observation_id": 68
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-008.jpg",
"sha256": "9098d164f5370acb97f29f076b50f68f353df0df734ce26d1931cb0e44357581",
"pose": [
4.942474252512185,
1.9796470549484093,
0.6054174789919075
],
"timestamp": 9687.867631073,
"observation_id": 69
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-009.jpg",
"sha256": "00ff808f3490a5a98cc27d070d3e032664099403cb8430cd8ca0d5ab8e27d977",
"pose": [
4.957536643026285,
1.9927105078374496,
0.5833072916809547
],
"timestamp": 9688.265735081,
"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,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69,
70
],
"model": "lightnav",
"pose_conditioning": "not fed to these REAL adapters",
"client_plan_used": false,
"history_sampling": {
"method": "nearest captured observation per occupied 4Hz bin; empty bins omitted",
"max_capture_gap_s": 2.8699142610003037,
"unobserved_time_filled": false
},
"history_indices": [
0,
1,
4,
5,
10,
11,
16,
17,
22,
23,
28,
29,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
4,
5,
10,
11,
16,
17,
22,
23,
28,
29,
34,
35
],
"tensor": "processed/segment1.pt",
"shape": [
12,
3,
256,
448
]
},
{
"indices": [
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
68,
69
],
"tensor": "processed/segment3.pt",
"shape": [
2,
3,
256,
448
]
}
],
"prompt": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<17.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><16.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><14.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><13.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><11.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><10.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the streetsign, return to the orange fence you've seen before</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
"tokenized": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
16,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<17.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><16.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><14.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><13.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><11.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><10.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the streetsign, return to the orange fence you've seen before</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,
1018
],
"attention_mask": [
1,
1018
],
"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,
1018
],
"mm_token_type_ids": [
1,
1018
]
}
},
"history_fps": 4,
"model_history_refs": [
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-000.jpg",
"sha256": "0c7171dcdfda675e8121379e9efc54a9abf0356977d823cd01f460b50c394187",
"pose": [
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
"timestamp": 9636.079421371,
"observation_id": 1
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-001.jpg",
"sha256": "4153e8b5f175236c99a5636e43f66c667e8976c738dd8dae8110342e49a0a88a",
"pose": [
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
"timestamp": 9637.012697103,
"observation_id": 2
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-004.jpg",
"sha256": "683d74a30fc14b077c5eebf3b6487e60c6ca430ee4168a4e10e287433671770f",
"pose": [
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
"timestamp": 9639.284419713,
"observation_id": 5
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000001/input-005.jpg",
"sha256": "c0e2c415d36c53f5fef45fbbdf71e415c286e82abfde3c0375f662ad8405a19e",
"pose": [
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
"timestamp": 9640.155678979,
"observation_id": 6
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-000.jpg",
"sha256": "54a8e12f98fb77c333ff784d13056024584bf3a658602e6a9835232da7487e50",
"pose": [
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
"timestamp": 9645.289759219,
"observation_id": 11
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-001.jpg",
"sha256": "2ba6c64d5ed1f1538bab10af60a7dd2575f5b39f427a90507771661585e4c45c",
"pose": [
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
"timestamp": 9645.891634653,
"observation_id": 12
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-006.jpg",
"sha256": "54c8048b4f74ce2bc4f5dac4246e192c40483849a5038dafc2b766797da4d472",
"pose": [
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
"timestamp": 9648.694472229,
"observation_id": 17
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000002/input-007.jpg",
"sha256": "8962b7caffe9e53286726d135e2200fef5f1bbec0bd2dcd79b5f40811cbeeccd",
"pose": [
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
"timestamp": 9649.294747252,
"observation_id": 18
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-002.jpg",
"sha256": "4c5ff66c6635ba732a0432f9e641f4bb557c8657d008a027b96505cf148237d9",
"pose": [
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
"timestamp": 9653.364641777,
"observation_id": 23
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-003.jpg",
"sha256": "2be5182fd3392284260e800039ec14d3b68189d583084f1f910817081574f22d",
"pose": [
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
"timestamp": 9653.967484958,
"observation_id": 24
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-008.jpg",
"sha256": "54332eeca927e372a9a3b92ff7264f51ade7dcf62813ee56d5254aa25444cb11",
"pose": [
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
"timestamp": 9656.904110417,
"observation_id": 29
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000003/input-009.jpg",
"sha256": "d7f9df07219fd822b4e0b3e191631f09ff9c269f5b9217d7f6feb0e3c40b1a46",
"pose": [
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
"timestamp": 9657.436190954,
"observation_id": 30
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-004.jpg",
"sha256": "a0b7e8d490ea85c2044a8610f40c181a5f1476e21a83098ba601236ecc68d307",
"pose": [
2.7997468440222084,
0.5796303355989587,
0.5372177429171877
],
"timestamp": 9661.173687225,
"observation_id": 35
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-005.jpg",
"sha256": "4676416469a25db0485193d976b548484daf39402eb676cd9d9f641b34757f86",
"pose": [
2.8743868986922054,
0.6254563377089981,
0.5650432147573998
],
"timestamp": 9661.77418584,
"observation_id": 36
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-006.jpg",
"sha256": "5e0a802904773b271e58558346c62e68047d2c3638acd5119aac807269382a1b",
"pose": [
2.979181965771598,
0.685584251711323,
0.4544016144403487
],
"timestamp": 9662.639741599,
"observation_id": 37
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-007.jpg",
"sha256": "b593f2d366f5564ad81e9c52654221d451b3fadb4cc2de845693f1b4757b92e7",
"pose": [
3.076467305048357,
0.7308578209711767,
0.3655543482098235
],
"timestamp": 9663.509754931,
"observation_id": 38
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-008.jpg",
"sha256": "c9bdcc8f6bbb3f6587f4ee9405fadf0e10ad7d5b5d1d357d845a4a4e379c3147",
"pose": [
3.186157859990168,
0.7741025176536409,
0.3155987405997137
],
"timestamp": 9664.31070789,
"observation_id": 39
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000004/input-009.jpg",
"sha256": "ef10eb8d46f94424da8593242dc8002b1f891eef19e3e27cef9163fd38281332",
"pose": [
3.187039281671232,
0.7760073337491363,
0.3270649593190515
],
"timestamp": 9664.442823934,
"observation_id": 40
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-000.jpg",
"sha256": "f2ace9056e4f080969743c7fce5e7e955e5bf5fde1ab75c70684e3ff1704a27d",
"pose": [
3.2571461593162185,
0.8139628378585589,
0.5527716385174751
],
"timestamp": 9667.312738195,
"observation_id": 41
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-001.jpg",
"sha256": "a14062020fcf0e867e6154caf52a289b1036ad3ed8e9498e19ab589ec019e699",
"pose": [
3.330980657876753,
0.8696001514280601,
0.5451910012276183
],
"timestamp": 9668.046359676,
"observation_id": 42
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-002.jpg",
"sha256": "43525b9b5fc4716fbf2752e70dc8d7da8824f99284bdbc35f6b52473a776bc76",
"pose": [
3.4009333924648733,
0.918600640613778,
0.5321942630344814
],
"timestamp": 9669.116125213,
"observation_id": 43
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-003.jpg",
"sha256": "8052dbbfa1841d90d78a650c12b6a4fbe70c9f294aee0b9a9986fba752b52a77",
"pose": [
3.4876928554464692,
0.9695492876505826,
0.493905063486824
],
"timestamp": 9669.848949097,
"observation_id": 44
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-004.jpg",
"sha256": "56c0c5b62a795ef419361d94bcc5589aeb1f645395ccd9bf570f924c556e413c",
"pose": [
3.5800875962955314,
1.022080881404114,
0.30910998951792595
],
"timestamp": 9670.78281477,
"observation_id": 45
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-005.jpg",
"sha256": "7ac61567ccad44309b05a636a368aa87f5939e1c2c6ff1888fb58df525ef49f0",
"pose": [
3.659178568520467,
1.0422313599019128,
0.31398733613424157
],
"timestamp": 9671.316091127,
"observation_id": 46
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-006.jpg",
"sha256": "5e32b3e8053cc149df50f0c7ab86f97e298e20f484574ca9905b576807cc5d70",
"pose": [
3.746317227708793,
1.0622071478851467,
0.41262634857338615
],
"timestamp": 9672.32021245,
"observation_id": 47
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-007.jpg",
"sha256": "006024891600dd6d5bb1c2494876dc5c57572d3956df8c3076032d80c1eb60d6",
"pose": [
3.8106480591199694,
1.0920248628102445,
0.40250981407044806
],
"timestamp": 9672.919011802,
"observation_id": 48
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-008.jpg",
"sha256": "06fd527f112fbbd2dbe805c18725de891df93540d40e97d43f0a8779f75cd1c1",
"pose": [
3.870271413452008,
1.1157807633110055,
0.40978341737006535
],
"timestamp": 9673.452717807,
"observation_id": 49
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000005/input-009.jpg",
"sha256": "8b1f7b9e86ae95351a53408277493cd5f063f41dcb96334e00abfa8045e89ef2",
"pose": [
3.8749908495784067,
1.117842062004974,
0.41504222766144555
],
"timestamp": 9673.653356574,
"observation_id": 50
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-000.jpg",
"sha256": "69ad1b6ec0645a848b2736c8a5dc7cb37b276eb7a5d9adecdf3e39ff63437ebb",
"pose": [
3.951091107693874,
1.1602860348891675,
0.4366035855566352
],
"timestamp": 9676.388444065,
"observation_id": 51
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-001.jpg",
"sha256": "d2414442d0aadc700ba6e479c6e0b03a46e557dedb221906aaa98cb6e49eecc6",
"pose": [
4.019029751860756,
1.1942191519232437,
0.48024165070338143
],
"timestamp": 9676.922276955,
"observation_id": 52
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-002.jpg",
"sha256": "1b0e18d17bf62b1a022e29ece64826243349bd5359c259bbf0eb5564b7af4218",
"pose": [
4.062093724420502,
1.234296250415141,
0.5829091418700486
],
"timestamp": 9677.524971171,
"observation_id": 53
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-003.jpg",
"sha256": "4e2c464dea0bf4c6d1fcb45ada722deaea3afc1ce7f0a311d39bc7ccf5433866",
"pose": [
4.118052122660133,
1.2730522194929677,
0.6972111027430123
],
"timestamp": 9678.055076019,
"observation_id": 54
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-004.jpg",
"sha256": "a570b463221a0cd034c48b5ed2124f33a4865b25daf55d56826b606d314badfc",
"pose": [
4.1667243231627396,
1.3203368398012678,
0.710455671638073
],
"timestamp": 9678.588807658,
"observation_id": 55
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-005.jpg",
"sha256": "14a59ea912481b404508af7af8f504339c9751864643dec6b1aea35d013914fb",
"pose": [
4.219931984215173,
1.3673091738166558,
0.7167310918544385
],
"timestamp": 9679.188793614,
"observation_id": 56
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-006.jpg",
"sha256": "8b1907e78fcdf8486713e499127a0ba901dd2b186981e1fc3007fb3e8c4ab43d",
"pose": [
4.275327233427406,
1.4175362563196745,
0.6494735918393635
],
"timestamp": 9679.925100602,
"observation_id": 57
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-007.jpg",
"sha256": "67443a3939ee4ed90111fc345ba39268b5f108b79dc6794ea2e78ceac788b2a0",
"pose": [
4.346407645761325,
1.4602535356607498,
0.5853211353059824
],
"timestamp": 9680.462478583,
"observation_id": 58
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-008.jpg",
"sha256": "60b8ff5b6f32b1012a6c3f798327feeb808b8b00e517ad8d72e4a2fd7f0f7d0f",
"pose": [
4.415186862155725,
1.5097563434172931,
0.5525175838233886
],
"timestamp": 9681.12789665,
"observation_id": 59
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000006/input-009.jpg",
"sha256": "6ecd75420c33a5041dd6553942bc1ea8f6ba84c97155b47433c8ed9ed895fc98",
"pose": [
4.413849855498578,
1.5084506746269226,
0.5395904769862396
],
"timestamp": 9681.325402021,
"observation_id": 60
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-000.jpg",
"sha256": "b2f7effea072578116a634dc6b058e683f320187569bc8adadd611ce637c172b",
"pose": [
4.49041215258903,
1.5652570702387187,
0.6564428911447936
],
"timestamp": 9683.263868489,
"observation_id": 61
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-001.jpg",
"sha256": "7b876693b0243223fb9d2467d15c0454ef709b1427c6f680ed53041a30d27287",
"pose": [
4.536916508936175,
1.6192320820434187,
0.704195284729273
],
"timestamp": 9683.79485113,
"observation_id": 62
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-002.jpg",
"sha256": "6efa0309e3367be798ce05503a33188a128a28c42529026e4ea9eeaf2abf8d32",
"pose": [
4.586574365271545,
1.6603755182906852,
0.7149942399385993
],
"timestamp": 9684.328113471,
"observation_id": 63
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-003.jpg",
"sha256": "8f3774186a10c2262a6b37af844427bbeb0523203db0eeced7f88fdb9784f5b8",
"pose": [
4.638422320060417,
1.7113528690732493,
0.7174901254450861
],
"timestamp": 9684.929246157,
"observation_id": 64
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-004.jpg",
"sha256": "ea8d9e9bdc73a005bbadb49b9c9d69438c902b4cbbfe8f2a86102210ecb2d15b",
"pose": [
4.699061787938813,
1.7610096202324956,
0.6937262523784599
],
"timestamp": 9685.461465484,
"observation_id": 65
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-005.jpg",
"sha256": "f2e1902af3b26973a2cb3a70bb16ed69be271b77ee73b6c4e39223fcfcc1eda4",
"pose": [
4.7555351903059515,
1.8192376167178155,
0.6970228925561817
],
"timestamp": 9686.062269806,
"observation_id": 66
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-006.jpg",
"sha256": "f8a78e41432381d9969df66eea44d4ce24a1fa3819aa6a42adc6ca9298af52a8",
"pose": [
4.820524578156939,
1.870726812002476,
0.7125903431881617
],
"timestamp": 9686.596628475,
"observation_id": 67
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-007.jpg",
"sha256": "e5831a7c5284cc0e9a13d26f19bb0ae95e71efbfdd5fdccba6ae6a318ed2db54",
"pose": [
4.875589684925218,
1.927527801148666,
0.7192314356373821
],
"timestamp": 9687.198237147,
"observation_id": 68
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-008.jpg",
"sha256": "9098d164f5370acb97f29f076b50f68f353df0df734ce26d1931cb0e44357581",
"pose": [
4.942474252512185,
1.9796470549484093,
0.6054174789919075
],
"timestamp": 9687.867631073,
"observation_id": 69
},
{
"path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-180142-7992c767/steps/000007/input-009.jpg",
"sha256": "00ff808f3490a5a98cc27d070d3e032664099403cb8430cd8ca0d5ab8e27d977",
"pose": [
4.957536643026285,
1.9927105078374496,
0.5833072916809547
],
"timestamp": 9688.265735081,
"observation_id": 70
}
]
}
<|im_start|>user You are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<17.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><16.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><14.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><13.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><11.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><10.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the streetsign, return to the orange fence you've seen before</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": [
[
0.17525529861450195,
-0.001754452008754015,
-0.011678464710712431
],
[
0.13718335520418323,
0.0011875142174208998,
0.014800933189690113
],
[
0.11680814007063949,
-0.0013487681234357072,
0.0046214680187404164
],
[
0.1203417090416021,
-0.0001207779292924895,
-0.0029645790345966816
],
[
0.12374388115259206,
0.0002009336858692474,
0.0006573265418410301
],
[
0.12174508972876785,
0.00026839806985837493,
-0.0006951093673706054
],
[
0.1205958886977914,
0.0005471946073289875,
-0.007182264234870672
],
[
0.12868242579201036,
-3.474107305978015e-05,
-0.013938823249191046
],
[
0.1364178304336794,
-0.0005837064539774939,
-0.015764489769935608
],
[
0.13840845730779652,
-0.0008253868131614843,
-0.012113433331251144
]
],
"stop": false,
"plan": null,
"raw": "<apos_1029><opos_520><act_l0_39><act_l1_74><act_l2_49><|im_end|>",
"waypoints": [
[
0.17525529861450195,
-0.001754452008754015,
-0.011678464710712433
],
[
0.31244316697120667,
-0.002169073326513171,
0.00312246847897768
],
[
0.429254949092865,
-0.0031531057320535183,
0.007743936497718096
],
[
0.549593985080719,
-0.0023419708013534546,
0.004779357463121414
],
[
0.6733354926109314,
-0.00154962542001158,
0.005436684004962444
],
[
0.7950773239135742,
-0.0006193449953570962,
0.004741574637591839
],
[
0.9156692624092102,
0.0004996557254344225,
-0.0024406895972788334
],
[
1.0443512201309204,
0.0001508412096882239,
-0.01637951284646988
],
[
1.1807411909103394,
-0.002667144639417529,
-0.03214400261640549
],
[
1.3190516233444214,
-0.007940340787172318,
-0.04425743594765663
]
],
"pointing": {
"apos": 1029,
"opos": 520
},
"rvq_codes": [
39,
74,
49
],
"model_input": {
"history_indices": [
0,
1,
4,
5,
10,
11,
16,
17,
22,
23,
28,
29,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67,
68,
69
],
"segments": [
{
"indices": [
0,
1
],
"tensor": "processed/segment0.pt",
"shape": [
2,
3,
256,
448
]
},
{
"indices": [
4,
5,
10,
11,
16,
17,
22,
23,
28,
29,
34,
35
],
"tensor": "processed/segment1.pt",
"shape": [
12,
3,
256,
448
]
},
{
"indices": [
36,
37,
38,
39,
40,
41,
42,
43,
44,
45,
46,
47,
48,
49,
50,
51,
52,
53,
54,
55,
56,
57,
58,
59,
60,
61,
62,
63,
64,
65,
66,
67
],
"tensor": "processed/segment2.pt",
"shape": [
32,
3,
256,
448
]
},
{
"indices": [
68,
69
],
"tensor": "processed/segment3.pt",
"shape": [
2,
3,
256,
448
]
}
],
"prompt": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<17.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><16.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><14.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><13.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><11.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><10.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the streetsign, return to the orange fence you've seen before</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
"tokenized": {
"input_ids": [
[
151644,
872,
198,
2610,
525,
264,
6371,
12305,
13,
1446,
525,
2661,
9124,
23722,
916,
882,
11,
11457,
504,
29658,
311,
1429,
3213,
31252,
16,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
23,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
22,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
21,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
20,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
19,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
18,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
17,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
16,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
21,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
27,
15,
13,
16,
6486,
29,
151652,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151656,
151653,
13,
4615,
12607,
3383,
374,
25,
220,
151669,
3346,
220,
311,
279,
14371,
622,
11,
470,
311,
279,
18575,
24650,
498,
3003,
3884,
1573,
151670,
13,
1446,
1231,
387,
518,
279,
7167,
11,
6149,
11,
476,
835,
315,
279,
3383,
13,
32710,
697,
3853,
34682,
438,
264,
8500,
315,
49247,
4686,
2220,
482,
34682,
11211,
13,
151645,
198,
151644,
77091,
198
]
],
"decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<17.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><16.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><14.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><13.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><11.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><10.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the streetsign, return to the orange fence you've seen before</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,
1018
],
"attention_mask": [
1,
1018
],
"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,
1018
],
"mm_token_type_ids": [
1,
1018
]
}
},
"history_fps": 4
},
"native_latency_ms": 552.3330559954047
},
"response": {
"type": "step",
"actions": [
[
0.17525529861450195,
-0.001754452008754015,
-0.011678464710712431
],
[
0.13718335520418323,
0.0011875142174208998,
0.014800933189690113
],
[
0.11680814007063949,
-0.0013487681234357072,
0.0046214680187404164
],
[
0.1203417090416021,
-0.0001207779292924895,
-0.0029645790345966816
],
[
0.12374388115259206,
0.0002009336858692474,
0.0006573265418410301
],
[
0.12174508972876785,
0.00026839806985837493,
-0.0006951093673706054
],
[
0.1205958886977914,
0.0005471946073289875,
-0.007182264234870672
],
[
0.12868242579201036,
-3.474107305978015e-05,
-0.013938823249191046
],
[
0.1364178304336794,
-0.0005837064539774939,
-0.015764489769935608
],
[
0.13840845730779652,
-0.0008253868131614843,
-0.012113433331251144
],
[
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-20261019-180142-7992c767",
"inference_id": 7,
"model": "lightnav",
"model_inference_executed": true
},
"model_seconds": 0.804981576744467,
"peak_memory_bytes": 9609140224,
"allocated_memory_bytes": 9095067648,
"reserved_memory_bytes": 12008292352,
"load_count": 1,
"total_seconds": 0.8097865316085517
}
{
"frame": "m_m_rad",
"local_prediction": [
[
0.0,
0.0,
0.0
],
[
0.17525529861450195,
-0.001754452008754015,
-0.01167846471071243
],
[
0.31244316697120667,
-0.0021690733265131703,
0.0031224684789776837
],
[
0.429254949092865,
-0.0031531057320535174,
0.0077439364977181
],
[
0.549593985080719,
-0.0023419708013534533,
0.0047793574631214185
],
[
0.6733354926109314,
-0.001549625420011578,
0.005436684004962449
],
[
0.7950773239135742,
-0.0006193449953570937,
0.004741574637591843
],
[
0.9156692624092102,
0.0004996557254344255,
-0.0024406895972788286
],
[
1.0443512201309206,
0.0001508412096882275,
-0.01637951284646988
],
[
1.1807411909103396,
-0.0026671446394175256,
-0.03214400261640549
],
[
1.3190516233444216,
-0.007940340787172316,
-0.044257435947656625
]
],
"observed_poses": [
[
3.587396216917513e-05,
-1.609968419872171e-05,
6.101330476099287e-05
],
[
0.10001291376021931,
0.016841981661178645,
0.13036275467314812
],
[
0.2361491757763821,
0.03231797243006966,
0.06752555569953717
],
[
0.3412917533012546,
0.036119331026225554,
0.03988299941213386
],
[
0.451263311740561,
0.043002499064273114,
0.028640033599890147
],
[
0.558406385500873,
0.0464447555866942,
0.041828049636640885
],
[
0.6691481688615122,
0.05704758290837414,
0.027432916498658477
],
[
0.7732363050684853,
0.06260722622842735,
0.07122198276096653
],
[
0.8772414897153485,
0.07594168058238177,
0.05982834940276599
],
[
0.9593458579086331,
0.08504377944230646,
0.06289425227531237
],
[
1.0050127843115677,
0.09557575795062012,
0.056968430632065636
],
[
1.10853964840297,
0.11312002392952614,
0.14150438204903049
],
[
1.1779272386383504,
0.13431115241462166,
0.18701166982251932
],
[
1.239244419984504,
0.14901073934920978,
0.19936636965357074
],
[
1.3083336805544634,
0.1672751995587879,
0.19129992421923334
],
[
1.3883862611937123,
0.17791508770624737,
0.14002047446436156
],
[
1.4570147691287239,
0.18880572568164178,
0.11831705475960785
],
[
1.5232870796857225,
0.19292250242149656,
0.10979974637859025
],
[
1.6006835646440685,
0.2075123521771431,
0.10786628775392304
],
[
1.6925077166289488,
0.2152232687038581,
0.12490857614809119
],
[
1.7157071359075144,
0.21934093975938285,
0.16751221296426955
],
[
1.798964414980512,
0.2411117704731418,
0.17354934857860765
],
[
1.9017823693329343,
0.267525076187233,
0.22450991351721136
],
[
1.9966866879110747,
0.29834945153596093,
0.29013919832785373
],
[
2.0905340917649524,
0.3317595103843767,
0.34831826068161914
],
[
2.1726625920824794,
0.363605968095397,
0.3039544182208286
],
[
2.2472954469016337,
0.38673031177384243,
0.2910563282174412
],
[
2.2953715909271657,
0.4028497925078447,
0.2517817321353191
],
[
2.3635328458021405,
0.4199548159135874,
0.26876497301062585
],
[
2.447904106459702,
0.45200843215145947,
0.25698343102722854
],
[
2.5261328286408435,
0.47297179728435257,
0.2618776026155355
],
[
2.5486322919784037,
0.47383234297646437,
0.27615815431776486
],
[
2.668975518110721,
0.5226311809385773,
0.36634412498448604
],
[
2.7093030584210194,
0.5341810292263233,
0.4647852134303846
],
[
2.7366822999504006,
0.541104757411701,
0.5282477121270054
],
[
2.7997468440222084,
0.5796303355989587,
0.5372177429171877
],
[
2.8743868986922054,
0.6254563377089981,
0.5650432147573998
],
[
2.979181965771598,
0.685584251711323,
0.4544016144403487
],
[
3.076467305048357,
0.7308578209711767,
0.3655543482098235
],
[
3.186157859990168,
0.7741025176536409,
0.3155987405997137
],
[
3.187039281671232,
0.7760073337491363,
0.3270649593190515
],
[
3.2571461593162185,
0.8139628378585589,
0.5527716385174751
],
[
3.330980657876753,
0.8696001514280601,
0.5451910012276183
],
[
3.4009333924648733,
0.918600640613778,
0.5321942630344814
],
[
3.4876928554464692,
0.9695492876505826,
0.493905063486824
],
[
3.5800875962955314,
1.022080881404114,
0.30910998951792595
],
[
3.659178568520467,
1.0422313599019128,
0.31398733613424157
],
[
3.746317227708793,
1.0622071478851467,
0.41262634857338615
],
[
3.8106480591199694,
1.0920248628102445,
0.40250981407044806
],
[
3.870271413452008,
1.1157807633110055,
0.40978341737006535
],
[
3.8749908495784067,
1.117842062004974,
0.41504222766144555
],
[
3.951091107693874,
1.1602860348891675,
0.4366035855566352
],
[
4.019029751860756,
1.1942191519232437,
0.48024165070338143
],
[
4.062093724420502,
1.234296250415141,
0.5829091418700486
],
[
4.118052122660133,
1.2730522194929677,
0.6972111027430123
],
[
4.1667243231627396,
1.3203368398012678,
0.710455671638073
],
[
4.219931984215173,
1.3673091738166558,
0.7167310918544385
],
[
4.275327233427406,
1.4175362563196745,
0.6494735918393635
],
[
4.346407645761325,
1.4602535356607498,
0.5853211353059824
],
[
4.415186862155725,
1.5097563434172931,
0.5525175838233886
],
[
4.413849855498578,
1.5084506746269226,
0.5395904769862396
],
[
4.49041215258903,
1.5652570702387187,
0.6564428911447936
],
[
4.536916508936175,
1.6192320820434187,
0.704195284729273
],
[
4.586574365271545,
1.6603755182906852,
0.7149942399385993
],
[
4.638422320060417,
1.7113528690732493,
0.7174901254450861
],
[
4.699061787938813,
1.7610096202324956,
0.6937262523784599
],
[
4.7555351903059515,
1.8192376167178155,
0.6970228925561817
],
[
4.820524578156939,
1.870726812002476,
0.7125903431881617
],
[
4.875589684925218,
1.927527801148666,
0.7192314356373821
],
[
4.942474252512185,
1.9796470549484093,
0.6054174789919075
],
[
4.957536643026285,
1.9927105078374496,
0.5833072916809547
]
]
}