{
  "status": "ok",
  "native": {
    "actions": [
      [
        -0.005169909447431564,
        0.003921105060726404,
        -0.29026472568511963
      ],
      [
        0.15340202483322327,
        -0.005276586695514028,
        -0.03751492500305176
      ],
      [
        0.1600992959276453,
        0.007250793620643889,
        0.07346084713935852
      ],
      [
        0.12649271521905978,
        0.0028336335966696567,
        -0.003877401351928711
      ],
      [
        0.07411089469589566,
        0.003984210087958217,
        0.04496540129184723
      ],
      [
        0.08680730895167346,
        0.002201676730087594,
        0.05353459715843201
      ],
      [
        0.1099457429349286,
        0.00013968786170655279,
        0.05250015854835511
      ],
      [
        0.13532589030986958,
        -8.169953222928253e-05,
        0.07673770189285278
      ],
      [
        0.12845467212792944,
        0.00012879035664142575,
        0.034219357650727034
      ],
      [
        0.1072658391507987,
        5.4277332428412524e-05,
        0.008979131001979113
      ]
    ],
    "stop": false,
    "plan": null,
    "raw": "<apos_1182><opos_467><act_l0_27><act_l1_173><act_l2_228><|im_end|>",
    "waypoints": [
      [
        -0.005169909447431564,
        0.003921105060726404,
        -0.29026472568511963
      ],
      [
        0.140304833650589,
        -0.04503931477665901,
        -0.3277796506881714
      ],
      [
        0.2942146956920624,
        -0.08971719443798065,
        -0.25431880354881287
      ],
      [
        0.4173516631126404,
        -0.11879852414131165,
        -0.2581962049007416
      ],
      [
        0.49002325534820557,
        -0.13386963307857513,
        -0.21323080360889435
      ],
      [
        0.5753304958343506,
        -0.1500878632068634,
        -0.15969620645046234
      ],
      [
        0.683899462223053,
        -0.16743333637714386,
        -0.10719604790210724
      ],
      [
        0.8184398412704468,
        -0.18199320137500763,
        -0.030458346009254456
      ],
      [
        0.9468388557434082,
        -0.18577638268470764,
        0.003761011641472578
      ],
      [
        1.0541037321090698,
        -0.18531867861747742,
        0.01274014264345169
      ]
    ],
    "pointing": {
      "apos": 1182,
      "opos": 467
    },
    "rvq_codes": [
      27,
      173,
      228
    ],
    "model_input": {
      "history_indices": [
        0
      ],
      "segments": [
        {
          "indices": [
            0,
            0
          ],
          "tensor": "processed/segment0.pt",
          "shape": [
            2,
            3,
            256,
            448
          ]
        }
      ],
      "prompt": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<0.0 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the vending machine</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
      "tokenized": {
        "input_ids": [
          [
            151644,
            872,
            198,
            2610,
            525,
            264,
            6371,
            12305,
            13,
            1446,
            525,
            2661,
            9124,
            23722,
            916,
            882,
            11,
            11457,
            504,
            29658,
            311,
            1429,
            3213,
            31252,
            15,
            13,
            15,
            6486,
            29,
            151652,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151656,
            151653,
            13,
            4615,
            12607,
            3383,
            374,
            25,
            220,
            151669,
            3346,
            311,
            279,
            85044,
            5662,
            151670,
            13,
            1446,
            1231,
            387,
            518,
            279,
            7167,
            11,
            6149,
            11,
            476,
            835,
            315,
            279,
            3383,
            13,
            32710,
            697,
            3853,
            34682,
            438,
            264,
            8500,
            315,
            49247,
            4686,
            2220,
            482,
            34682,
            11211,
            13,
            151645,
            198,
            151644,
            77091,
            198
          ]
        ],
        "decoded": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<0.0 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the vending machine</navigation_task>. You may be at the beginning, middle, or end of the task. Predict your future trajectory as a sequence of coarse-to-fine trajectory tokens.<|im_end|>\n<|im_start|>assistant\n",
        "tensor_shapes": {
          "input_ids": [
            1,
            193
          ],
          "attention_mask": [
            1,
            193
          ],
          "pixel_values_videos": [
            1,
            448,
            1536
          ],
          "video_grid_thw": [
            1,
            3
          ],
          "_original_video_grid_thw": [
            1,
            3
          ],
          "_post_vit_pool_factors": [
            1
          ],
          "position_ids": [
            1,
            3,
            193
          ],
          "mm_token_type_ids": [
            1,
            193
          ]
        }
      },
      "history_fps": 4
    },
    "native_latency_ms": 199.3828359991312
  },
  "response": {
    "type": "step",
    "actions": [
      [
        -0.005169909447431564,
        0.003921105060726404,
        -0.29026472568511963
      ],
      [
        0.15340202483322327,
        -0.005276586695514028,
        -0.03751492500305176
      ],
      [
        0.1600992959276453,
        0.007250793620643889,
        0.07346084713935852
      ],
      [
        0.12649271521905978,
        0.0028336335966696567,
        -0.003877401351928711
      ],
      [
        0.07411089469589566,
        0.003984210087958217,
        0.04496540129184723
      ],
      [
        0.08680730895167346,
        0.002201676730087594,
        0.05353459715843201
      ],
      [
        0.1099457429349286,
        0.00013968786170655279,
        0.05250015854835511
      ],
      [
        0.13532589030986958,
        -8.169953222928253e-05,
        0.07673770189285278
      ],
      [
        0.12845467212792944,
        0.00012879035664142575,
        0.034219357650727034
      ],
      [
        0.1072658391507987,
        5.4277332428412524e-05,
        0.008979131001979113
      ],
      [
        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-20261018-204515-1d22f2ef",
    "inference_id": 0,
    "model": "lightnav",
    "model_inference_executed": true
  },
  "model_seconds": 0.22875489993020892,
  "peak_memory_bytes": 9155978752,
  "allocated_memory_bytes": 9095067648,
  "reserved_memory_bytes": 11047796736,
  "load_count": 1,
  "total_seconds": 0.23048918787389994
}
