{
  "status": "ok",
  "native": {
    "actions": [
      [
        0.1519983410835266,
        -0.0001917361660161987,
        -0.00751038733869791
      ],
      [
        0.11741150277582454,
        0.0002850112687298274,
        -0.004727357067167759
      ],
      [
        0.10544817443865206,
        -0.0017477298497738018,
        -0.01650845818221569
      ],
      [
        0.11524269464812315,
        0.0008952704149056533,
        0.019903553649783134
      ],
      [
        0.1239459738663757,
        0.001364467206694546,
        0.038641273975372314
      ],
      [
        0.12655941521421554,
        0.002054575841357916,
        0.04224170185625553
      ],
      [
        0.12416959236220865,
        -0.0016192135336825899,
        -0.02780893445014954
      ],
      [
        0.12917172447743808,
        -0.000744970790219397,
        -0.04083894751965999
      ],
      [
        0.13791310273614046,
        0.00048491853530002456,
        -0.0047578574158251286
      ],
      [
        0.03681039111050989,
        0.0002048638845744376,
        -0.0010923054069280624
      ]
    ],
    "stop": false,
    "plan": null,
    "raw": "<apos_1032><opos_744><act_l0_187><act_l1_74><act_l2_145><|im_end|>",
    "waypoints": [
      [
        0.1519983410835266,
        -0.0001917361660161987,
        -0.00751038733869791
      ],
      [
        0.2694086730480194,
        -0.0007885305094532669,
        -0.01223774440586567
      ],
      [
        0.3748275637626648,
        -0.003826545085757971,
        -0.02874620258808136
      ],
      [
        0.4900483787059784,
        -0.006243978161364794,
        -0.008842648938298225
      ],
      [
        0.6140015721321106,
        -0.005975560750812292,
        0.02979862503707409
      ],
      [
        0.7404435873031616,
        -0.00015115857240743935,
        0.07204032689332962
      ],
      [
        0.8644076585769653,
        0.007171310484409332,
        0.044231392443180084
      ],
      [
        0.9934859871864319,
        0.012138650752604008,
        0.003392444923520088
      ],
      [
        1.1313966512680054,
        0.013091428205370903,
        -0.0013654124923050404
      ],
      [
        1.1682072877883911,
        0.013246030546724796,
        -0.002457717899233103
      ]
    ],
    "pointing": {
      "apos": 1032,
      "opos": 744
    },
    "rvq_codes": [
      187,
      74,
      145
    ],
    "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 straight to the plant and stop</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
      "tokenized": {
        "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,
            7678,
            311,
            279,
            6008,
            323,
            2936,
            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 straight to the plant and stop</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
        "tensor_shapes": {
          "input_ids": [
            1,
            195
          ],
          "attention_mask": [
            1,
            195
          ],
          "pixel_values_videos": [
            1,
            448,
            1536
          ],
          "video_grid_thw": [
            1,
            3
          ],
          "_original_video_grid_thw": [
            1,
            3
          ],
          "_post_vit_pool_factors": [
            1
          ],
          "position_ids": [
            1,
            3,
            195
          ],
          "mm_token_type_ids": [
            1,
            195
          ]
        }
      },
      "history_fps": 4
    },
    "native_latency_ms": 716.2200668826699
  },
  "response": {
    "type": "step",
    "actions": [
      [
        0.1519983410835266,
        -0.0001917361660161987,
        -0.00751038733869791
      ],
      [
        0.11741150277582454,
        0.0002850112687298274,
        -0.004727357067167759
      ],
      [
        0.10544817443865206,
        -0.0017477298497738018,
        -0.01650845818221569
      ],
      [
        0.11524269464812315,
        0.0008952704149056533,
        0.019903553649783134
      ],
      [
        0.1239459738663757,
        0.001364467206694546,
        0.038641273975372314
      ],
      [
        0.12655941521421554,
        0.002054575841357916,
        0.04224170185625553
      ],
      [
        0.12416959236220865,
        -0.0016192135336825899,
        -0.02780893445014954
      ],
      [
        0.12917172447743808,
        -0.000744970790219397,
        -0.04083894751965999
      ],
      [
        0.13791310273614046,
        0.00048491853530002456,
        -0.0047578574158251286
      ],
      [
        0.03681039111050989,
        0.0002048638845744376,
        -0.0010923054069280624
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "stop": false,
    "plan": null,
    "valid_actions": 10,
    "action_semantics": "body_increment_goals",
    "action_dt_s": null,
    "units": "m_m_rad",
    "robot_ready": true,
    "padding": "zero_tail_not_stop",
    "stop_semantics": "no_terminal_claim",
    "episode_id": "episode-20261018-180655-9af5d65b",
    "inference_id": 0,
    "model": "lightnav",
    "model_inference_executed": true
  },
  "model_seconds": 0.906584785785526,
  "peak_memory_bytes": 9156336128,
  "load_count": 1,
  "total_seconds": 0.9169437950477004
}