{
  "status": "ok",
  "native": {
    "actions": [
      [
        1.1057370556954993e-06,
        -2.779579517664388e-07,
        -1.564628860251105e-06
      ],
      [
        -4.158075737249294e-06,
        -6.555302122737339e-07,
        -1.5167472611210542e-07
      ],
      [
        2.0026637732982662e-06,
        -5.5780931945078066e-08,
        -3.640693648776505e-07
      ],
      [
        2.3109758278615063e-06,
        -1.93396898677979e-08,
        -5.338911250873934e-07
      ],
      [
        3.110289701854458e-06,
        1.9380326217307234e-07,
        2.811655306800276e-06
      ],
      [
        -2.687392480261698e-06,
        4.356670235714982e-07,
        3.0368299093197497e-06
      ],
      [
        1.225121881434925e-06,
        -1.7461063099519016e-07,
        2.407426791251055e-06
      ],
      [
        2.6491064381781412e-06,
        2.953296461288192e-07,
        5.29699264006922e-07
      ],
      [
        -6.176481537825758e-06,
        2.7345882551383315e-07,
        2.106122337863781e-06
      ],
      [
        -4.2761602224182544e-06,
        -6.055945095717565e-07,
        -1.3887190561945317e-05
      ]
    ],
    "stop": true,
    "plan": null,
    "raw": "<apos_1299><opos_698><act_l0_6><act_l1_122><act_l2_174><|im_end|>",
    "waypoints": [
      [
        1.1057370556954993e-06,
        -2.779579517664388e-07,
        -1.564628860251105e-06
      ],
      [
        -3.0523397072101943e-06,
        -9.334816581940686e-07,
        -1.7163035863632103e-06
      ],
      [
        -1.0496760296518914e-06,
        -9.892660273180809e-07,
        -2.080372951240861e-06
      ],
      [
        1.2612997579708463e-06,
        -1.0086105248774402e-06,
        -2.6142640763282543e-06
      ],
      [
        4.371589966467582e-06,
        -8.148153938236646e-07,
        1.9739123047202156e-07
      ],
      [
        1.6841974002090865e-06,
        -3.791489007198834e-07,
        3.234221139791771e-06
      ],
      [
        2.909319846366998e-06,
        -5.537555693990726e-07,
        5.641647931042826e-06
      ],
      [
        5.558424618357094e-06,
        -2.584109779490973e-07,
        6.171347195049748e-06
      ],
      [
        -6.180586069604033e-07,
        1.500973034751496e-08,
        8.277469532913528e-06
      ],
      [
        -4.894213816442061e-06,
        -5.906201749894535e-07,
        -5.609721029031789e-06
      ]
    ],
    "pointing": {
      "apos": 1299,
      "opos": 698
    },
    "rvq_codes": [
      6,
      122,
      174
    ],
    "model_input": {
      "history_indices": [
        0,
        1,
        2
      ],
      "segments": [
        {
          "indices": [
            0,
            0
          ],
          "tensor": "processed/segment0.pt",
          "shape": [
            2,
            3,
            256,
            448
          ]
        },
        {
          "indices": [
            1,
            2
          ],
          "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:<0.5 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go 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,
            20,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            15,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            13,
            4615,
            12607,
            3383,
            374,
            25,
            220,
            151669,
            3346,
            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:<0.5 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go 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,
            231
          ],
          "attention_mask": [
            1,
            231
          ],
          "pixel_values_videos": [
            1,
            896,
            1536
          ],
          "video_grid_thw": [
            2,
            3
          ],
          "_original_video_grid_thw": [
            2,
            3
          ],
          "_post_vit_pool_factors": [
            2
          ],
          "position_ids": [
            1,
            3,
            231
          ],
          "mm_token_type_ids": [
            1,
            231
          ]
        }
      },
      "history_fps": 4
    },
    "native_latency_ms": 482.3674941435456
  },
  "response": {
    "type": "step",
    "actions": [
      [
        1.1057370556954993e-06,
        -2.779579517664388e-07,
        -1.564628860251105e-06
      ],
      [
        -4.158075737249294e-06,
        -6.555302122737339e-07,
        -1.5167472611210542e-07
      ],
      [
        2.0026637732982662e-06,
        -5.5780931945078066e-08,
        -3.640693648776505e-07
      ],
      [
        2.3109758278615063e-06,
        -1.93396898677979e-08,
        -5.338911250873934e-07
      ],
      [
        3.110289701854458e-06,
        1.9380326217307234e-07,
        2.811655306800276e-06
      ],
      [
        -2.687392480261698e-06,
        4.356670235714982e-07,
        3.0368299093197497e-06
      ],
      [
        1.225121881434925e-06,
        -1.7461063099519016e-07,
        2.407426791251055e-06
      ],
      [
        2.6491064381781412e-06,
        2.953296461288192e-07,
        5.29699264006922e-07
      ],
      [
        -6.176481537825758e-06,
        2.7345882551383315e-07,
        2.106122337863781e-06
      ],
      [
        -4.2761602224182544e-06,
        -6.055945095717565e-07,
        -1.3887190561945317e-05
      ],
      [
        0.0,
        0.0,
        0.0
      ],
      [
        0.0,
        0.0,
        0.0
      ]
    ],
    "stop": true,
    "plan": null,
    "valid_actions": 10,
    "action_semantics": "body_increment_goals",
    "action_dt_s": null,
    "units": "m_m_rad",
    "robot_ready": true,
    "padding": "zero_tail_not_stop",
    "stop_semantics": "current_terminal",
    "episode_id": "episode-20261018-183758-4881e453",
    "inference_id": 2,
    "model": "lightnav",
    "model_inference_executed": true
  },
  "model_seconds": 0.5083941700868309,
  "peak_memory_bytes": 9168786944,
  "allocated_memory_bytes": 9095067648,
  "reserved_memory_bytes": 9300869120,
  "load_count": 1,
  "total_seconds": 0.5104693719185889
}