{
  "instruction": "go to the vending machine",
  "all_observations": [
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000000/input-000.jpg",
      "sha256": "6f18c6146c32c9f189fc8e523746bc790179c77b15f6e590d77fff4e9be12418",
      "pose": [
        -6.737307001702861e-05,
        5.214981778251158e-05,
        1.324986536888062e-05
      ],
      "timestamp": 6329.078354679,
      "observation_id": 0
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-000.jpg",
      "sha256": "47977fdb09a87a72be22cebd54344694cb75e4b8d8deca421e9f7c6aa7755324",
      "pose": [
        0.04825364183211451,
        0.002318884178721444,
        -0.07018820956830174
      ],
      "timestamp": 6329.714959149,
      "observation_id": 1
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-001.jpg",
      "sha256": "af6926e1bad088decf1e2f0d94f9c1d4d0f6b4b16aa7d2af027d1b1ae97d151c",
      "pose": [
        0.11922094334115628,
        0.004360593323930309,
        -0.08587591447934885
      ],
      "timestamp": 6330.784593187,
      "observation_id": 2
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-002.jpg",
      "sha256": "460860774ae2070072b9651bba37987ffe4667ad7923845395559547fc4617b7",
      "pose": [
        0.149007744399629,
        0.0010217089303482807,
        -0.08551258479939428
      ],
      "timestamp": 6331.119844455,
      "observation_id": 3
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-003.jpg",
      "sha256": "54e249003cee6b5b568076b52fb89debc36bc0d069e35221f7e1489386bece7c",
      "pose": [
        0.18046271217099102,
        0.0006674961924540701,
        -0.07597432232888224
      ],
      "timestamp": 6331.449781731,
      "observation_id": 4
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-004.jpg",
      "sha256": "f3546ad7652d8338a10509f7fec612f24f1ed359d62426af4d20773eca09dbaa",
      "pose": [
        0.2467817891127959,
        -0.001560073786242011,
        0.034380620934870265
      ],
      "timestamp": 6331.981865607,
      "observation_id": 5
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-005.jpg",
      "sha256": "0f9a5d3d2afe225344aa61d15b57d874921813ead8dea164aec9fb222efabdc7",
      "pose": [
        0.32728692648564744,
        0.010956607794516487,
        0.05750673684418883
      ],
      "timestamp": 6332.654040165,
      "observation_id": 6
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-006.jpg",
      "sha256": "dd969f0ab4ea6f2700cc68942d91e9f369471367cc569ab075badf46a9dc8359",
      "pose": [
        0.42756407063140667,
        0.01733158235158269,
        0.0745838742320224
      ],
      "timestamp": 6333.251810539,
      "observation_id": 7
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-007.jpg",
      "sha256": "be5276e3125102b093b7b98dc6dab8e7dc79b0686605806cf0f2d14d2d67bb23",
      "pose": [
        0.535492789350547,
        0.02999699593348415,
        0.04285390555288426
      ],
      "timestamp": 6334.05285331,
      "observation_id": 8
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-008.jpg",
      "sha256": "5a7107d50d142627c82a72d44006a6cbf7171ec57d5e6ce0bab8467d3a97f3ee",
      "pose": [
        0.6453100713976341,
        0.03462824708173712,
        0.05751582442921598
      ],
      "timestamp": 6334.787442326,
      "observation_id": 9
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-009.jpg",
      "sha256": "36aedc028a42025c821061a198a2cd581c463eb4bdead9dc4bc2d0141b1ea467",
      "pose": [
        0.7448280504622824,
        0.047174824744796284,
        0.042417587078089174
      ],
      "timestamp": 6335.519460637,
      "observation_id": 10
    }
  ],
  "time_resampled_indices": [
    1,
    2,
    3,
    4,
    5,
    6,
    7,
    8,
    9,
    10
  ],
  "model": "lightnav",
  "pose_conditioning": "not fed to these REAL adapters",
  "client_plan_used": false,
  "history_sampling": {
    "method": "nearest captured observation per occupied 4Hz bin; empty bins omitted",
    "max_capture_gap_s": 1.0696340380000038,
    "unobserved_time_filled": false
  },
  "history_indices": [
    0,
    1,
    2,
    3,
    4,
    5,
    6,
    7,
    8,
    9
  ],
  "segments": [
    {
      "indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7
      ],
      "tensor": "processed/segment0.pt",
      "shape": [
        8,
        3,
        256,
        448
      ]
    },
    {
      "indices": [
        8,
        9
      ],
      "tensor": "processed/segment1.pt",
      "shape": [
        2,
        3,
        256,
        448
      ]
    }
  ],
  "prompt": "<|im_start|>user\nYou are a mobile robot. You are given visual observations over time, ordered from earliest to most recent:<2.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><1.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.6 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|><0.1 seconds><|vision_start|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|video_pad|><|vision_end|>. Your assigned task is: <navigation_task>go to the 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,
        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:<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,
        337
      ],
      "attention_mask": [
        1,
        337
      ],
      "pixel_values_videos": [
        1,
        2240,
        1536
      ],
      "video_grid_thw": [
        2,
        3
      ],
      "_original_video_grid_thw": [
        2,
        3
      ],
      "_post_vit_pool_factors": [
        2
      ],
      "position_ids": [
        1,
        3,
        337
      ],
      "mm_token_type_ids": [
        1,
        337
      ]
    }
  },
  "history_fps": 4,
  "model_history_refs": [
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-000.jpg",
      "sha256": "47977fdb09a87a72be22cebd54344694cb75e4b8d8deca421e9f7c6aa7755324",
      "pose": [
        0.04825364183211451,
        0.002318884178721444,
        -0.07018820956830174
      ],
      "timestamp": 6329.714959149,
      "observation_id": 1
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-001.jpg",
      "sha256": "af6926e1bad088decf1e2f0d94f9c1d4d0f6b4b16aa7d2af027d1b1ae97d151c",
      "pose": [
        0.11922094334115628,
        0.004360593323930309,
        -0.08587591447934885
      ],
      "timestamp": 6330.784593187,
      "observation_id": 2
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-002.jpg",
      "sha256": "460860774ae2070072b9651bba37987ffe4667ad7923845395559547fc4617b7",
      "pose": [
        0.149007744399629,
        0.0010217089303482807,
        -0.08551258479939428
      ],
      "timestamp": 6331.119844455,
      "observation_id": 3
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-003.jpg",
      "sha256": "54e249003cee6b5b568076b52fb89debc36bc0d069e35221f7e1489386bece7c",
      "pose": [
        0.18046271217099102,
        0.0006674961924540701,
        -0.07597432232888224
      ],
      "timestamp": 6331.449781731,
      "observation_id": 4
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-004.jpg",
      "sha256": "f3546ad7652d8338a10509f7fec612f24f1ed359d62426af4d20773eca09dbaa",
      "pose": [
        0.2467817891127959,
        -0.001560073786242011,
        0.034380620934870265
      ],
      "timestamp": 6331.981865607,
      "observation_id": 5
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-005.jpg",
      "sha256": "0f9a5d3d2afe225344aa61d15b57d874921813ead8dea164aec9fb222efabdc7",
      "pose": [
        0.32728692648564744,
        0.010956607794516487,
        0.05750673684418883
      ],
      "timestamp": 6332.654040165,
      "observation_id": 6
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-006.jpg",
      "sha256": "dd969f0ab4ea6f2700cc68942d91e9f369471367cc569ab075badf46a9dc8359",
      "pose": [
        0.42756407063140667,
        0.01733158235158269,
        0.0745838742320224
      ],
      "timestamp": 6333.251810539,
      "observation_id": 7
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-007.jpg",
      "sha256": "be5276e3125102b093b7b98dc6dab8e7dc79b0686605806cf0f2d14d2d67bb23",
      "pose": [
        0.535492789350547,
        0.02999699593348415,
        0.04285390555288426
      ],
      "timestamp": 6334.05285331,
      "observation_id": 8
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-008.jpg",
      "sha256": "5a7107d50d142627c82a72d44006a6cbf7171ec57d5e6ce0bab8467d3a97f3ee",
      "pose": [
        0.6453100713976341,
        0.03462824708173712,
        0.05751582442921598
      ],
      "timestamp": 6334.787442326,
      "observation_id": 9
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261018-205156-d59aab9b/steps/000001/input-009.jpg",
      "sha256": "36aedc028a42025c821061a198a2cd581c463eb4bdead9dc4bc2d0141b1ea467",
      "pose": [
        0.7448280504622824,
        0.047174824744796284,
        0.042417587078089174
      ],
      "timestamp": 6335.519460637,
      "observation_id": 10
    }
  ]
}
