{
  "status": "ok",
  "native": {
    "actions": [
      [
        0.13632497191429138,
        -0.0013849101960659027,
        -0.03757832571864128
      ],
      [
        0.10564864591670776,
        -0.0023052991776171903,
        -0.09034717455506325
      ],
      [
        0.08778410125761424,
        -0.0077021615388799,
        -0.10424740612506868
      ],
      [
        0.07721910222209571,
        -0.007149821628783772,
        -0.11876073479652405
      ],
      [
        0.10279440062977423,
        0.002510760425768352,
        0.04750862717628479
      ],
      [
        0.11906433844962434,
        0.001221621044215214,
        0.03855589032173157
      ],
      [
        0.1354018458335836,
        0.01119112859234668,
        0.107876256108284
      ],
      [
        0.14126900505756013,
        0.0053570640386291085,
        0.08083611726760863
      ],
      [
        0.1398554603300314,
        0.002607820088671055,
        0.055178817361593246
      ],
      [
        0.02493543925700386,
        0.00012729387309722083,
        0.01750246062874794
      ]
    ],
    "stop": false,
    "plan": null,
    "raw": "<apos_1037><opos_554><act_l0_145><act_l1_85><act_l2_33><|im_end|>",
    "waypoints": [
      [
        0.13632497191429138,
        -0.0013849101960659027,
        -0.03757832571864128
      ],
      [
        0.24181242287158966,
        -0.007657746784389019,
        -0.12792550027370453
      ],
      [
        0.3278965950012207,
        -0.026496192440390587,
        -0.2321729063987732
      ],
      [
        0.4013986885547638,
        -0.05122172459959984,
        -0.35093364119529724
      ],
      [
        0.4987911283969879,
        -0.0842021033167839,
        -0.30342501401901245
      ],
      [
        0.6127814650535583,
        -0.11861158162355423,
        -0.2648691236972809
      ],
      [
        0.7463910579681396,
        -0.14325661957263947,
        -0.1569928675889969
      ],
      [
        0.8867602944374084,
        -0.16005267202854156,
        -0.07615675032138824
      ],
      [
        1.0264087915420532,
        -0.16809305548667908,
        -0.020977932959794998
      ],
      [
        1.0513414144515991,
        -0.16848884522914886,
        -0.003475472331047058
      ]
    ],
    "pointing": {
      "apos": 1037,
      "opos": 554
    },
    "rvq_codes": [
      145,
      85,
      33
    ],
    "model_input": {
      "history_indices": [
        0,
        1,
        6,
        7,
        12,
        13,
        18,
        19,
        24,
        25,
        30,
        31,
        36,
        37,
        42,
        43,
        48,
        49,
        50,
        51,
        52,
        53,
        54,
        55,
        56,
        57,
        58,
        59,
        60,
        61,
        62,
        63,
        64,
        65,
        66,
        67,
        68,
        69,
        70,
        71,
        72,
        73,
        74,
        75,
        76,
        77,
        78,
        79,
        80,
        81,
        82,
        83
      ],
      "segments": [
        {
          "indices": [
            0,
            1
          ],
          "tensor": "processed/segment0.pt",
          "shape": [
            2,
            3,
            256,
            448
          ]
        },
        {
          "indices": [
            6,
            7,
            12,
            13,
            18,
            19,
            24,
            25,
            30,
            31,
            36,
            37,
            42,
            43,
            48,
            49
          ],
          "tensor": "processed/segment1.pt",
          "shape": [
            16,
            3,
            256,
            448
          ]
        },
        {
          "indices": [
            50,
            51,
            52,
            53,
            54,
            55,
            56,
            57,
            58,
            59,
            60,
            61,
            62,
            63,
            64,
            65,
            66,
            67,
            68,
            69,
            70,
            71,
            72,
            73,
            74,
            75,
            76,
            77,
            78,
            79,
            80,
            81
          ],
          "tensor": "processed/segment2.pt",
          "shape": [
            32,
            3,
            256,
            448
          ]
        },
        {
          "indices": [
            82,
            83
          ],
          "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:<20.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><19.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><17.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><16.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><14.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><13.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><11.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><10.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the vending machine</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
      "tokenized": {
        "input_ids": [
          [
            151644,
            872,
            198,
            2610,
            525,
            264,
            6371,
            12305,
            13,
            1446,
            525,
            2661,
            9124,
            23722,
            916,
            882,
            11,
            11457,
            504,
            29658,
            311,
            1429,
            3213,
            31252,
            17,
            15,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            16,
            24,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            16,
            22,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            16,
            21,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            16,
            19,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            16,
            18,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            16,
            16,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            16,
            15,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            23,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            23,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            22,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            22,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            21,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            21,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            20,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            20,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            19,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            19,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            18,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            18,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            17,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            17,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            16,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            16,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            15,
            13,
            21,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            27,
            15,
            13,
            16,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            13,
            4615,
            12607,
            3383,
            374,
            25,
            220,
            151669,
            3346,
            311,
            279,
            85044,
            5662,
            151670,
            13,
            1446,
            1231,
            387,
            518,
            279,
            7167,
            11,
            6149,
            11,
            476,
            835,
            315,
            279,
            3383,
            13,
            32710,
            697,
            3853,
            34682,
            438,
            264,
            8500,
            315,
            49247,
            4686,
            2220,
            482,
            34682,
            11211,
            13,
            151645,
            198,
            151644,
            77091,
            198
          ]
        ],
        "decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<20.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><19.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><17.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><16.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><14.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><13.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><11.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><10.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><8.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><7.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><6.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><5.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><4.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><3.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the vending machine</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
        "tensor_shapes": {
          "input_ids": [
            1,
            1081
          ],
          "attention_mask": [
            1,
            1081
          ],
          "pixel_values_videos": [
            1,
            11648,
            1536
          ],
          "video_grid_thw": [
            4,
            3
          ],
          "_original_video_grid_thw": [
            4,
            3
          ],
          "_post_vit_pool_factors": [
            4
          ],
          "position_ids": [
            1,
            3,
            1081
          ],
          "mm_token_type_ids": [
            1,
            1081
          ]
        }
      },
      "history_fps": 4
    },
    "native_latency_ms": 260.2918418124318
  },
  "response": {
    "type": "step",
    "actions": [
      [
        0.13632497191429138,
        -0.0013849101960659027,
        -0.03757832571864128
      ],
      [
        0.10564864591670776,
        -0.0023052991776171903,
        -0.09034717455506325
      ],
      [
        0.08778410125761424,
        -0.0077021615388799,
        -0.10424740612506868
      ],
      [
        0.07721910222209571,
        -0.007149821628783772,
        -0.11876073479652405
      ],
      [
        0.10279440062977423,
        0.002510760425768352,
        0.04750862717628479
      ],
      [
        0.11906433844962434,
        0.001221621044215214,
        0.03855589032173157
      ],
      [
        0.1354018458335836,
        0.01119112859234668,
        0.107876256108284
      ],
      [
        0.14126900505756013,
        0.0053570640386291085,
        0.08083611726760863
      ],
      [
        0.1398554603300314,
        0.002607820088671055,
        0.055178817361593246
      ],
      [
        0.02493543925700386,
        0.00012729387309722083,
        0.01750246062874794
      ],
      [
        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-20261018-204330-d47e7d2e",
    "inference_id": 9,
    "model": "lightnav",
    "model_inference_executed": true
  },
  "model_seconds": 0.5249160840176046,
  "peak_memory_bytes": 9649085440,
  "allocated_memory_bytes": 9095067648,
  "reserved_memory_bytes": 10842275840,
  "load_count": 1,
  "total_seconds": 0.5308514349162579
}