{
  "instruction": "go to the white board and turn right to the person in white clothes",
  "all_observations": [
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000000/input-000.jpg",
      "sha256": "41481614f86e6227f3e0c682b4b91bb289d4302ce708e5501f29ef51ddeebb0d",
      "pose": [
        -4.3965902616491264e-05,
        -9.970473685406746e-05,
        0.0003803991161168696
      ],
      "timestamp": 3586.98458454,
      "observation_id": 0
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-000.jpg",
      "sha256": "1a60a8ae0ab79c51712ec0df18e716228d37ed6989ceca3cde693670ab2d82a4",
      "pose": [
        0.03965802720076225,
        0.010627571923948715,
        0.1505657113493566
      ],
      "timestamp": 3589.763043482,
      "observation_id": 1
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-001.jpg",
      "sha256": "5c263cc2b63471cbbca6edcfa3cb0b1bb0bef4bf18fc35f4b718859e6b6ecb03",
      "pose": [
        0.09525413132124641,
        0.02913177061381536,
        0.35652032824991453
      ],
      "timestamp": 3590.699997403,
      "observation_id": 2
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-002.jpg",
      "sha256": "048a52ad30053cff0f619892c05f0276449c95c9977f24cff566334b1ba0d178",
      "pose": [
        0.14797591123579124,
        0.06448690374656263,
        0.3894321187772327
      ],
      "timestamp": 3591.164350304,
      "observation_id": 3
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-003.jpg",
      "sha256": "e52ccced0d546dc3e08ea19f8162c5f4bd01f1706b5f1c58efee00b524d5c960",
      "pose": [
        0.22036049205725422,
        0.09212067386266945,
        0.39830990565250923
      ],
      "timestamp": 3591.831448738,
      "observation_id": 4
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-004.jpg",
      "sha256": "6f789cd78c6660e10cd65a94f2b97c202d7b9f4f67f1fc732b2864def5a626f1",
      "pose": [
        0.29922579536339977,
        0.129669810671794,
        0.3286780599412653
      ],
      "timestamp": 3592.567372711,
      "observation_id": 5
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-005.jpg",
      "sha256": "05a020908f57382b50c490b33614dd3d12d24186ff6cab95605123f662ddd618",
      "pose": [
        0.3748834951528522,
        0.14601963375138813,
        0.27268649593471045
      ],
      "timestamp": 3593.100469612,
      "observation_id": 6
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-006.jpg",
      "sha256": "bf3a149655c8a1f5fdf243e1a76778d15ae1d4127c56574d48018b351a3f1ba3",
      "pose": [
        0.4330193982420903,
        0.15664617776439188,
        0.16845493825409805
      ],
      "timestamp": 3593.766580873,
      "observation_id": 7
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-007.jpg",
      "sha256": "f545b50b9917970762b581019913422ebcbb7c2895828741410eb8541848bf1f",
      "pose": [
        0.4695561351703259,
        0.16116790464706326,
        0.11033055234782818
      ],
      "timestamp": 3594.234711804,
      "observation_id": 8
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-008.jpg",
      "sha256": "c42e0d3b3b6ef264260198d76c113470c26285c39a5f25f6530195185a248e74",
      "pose": [
        0.48938390709591084,
        0.16363774671922832,
        0.1238040208980644
      ],
      "timestamp": 3594.570255592,
      "observation_id": 9
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-009.jpg",
      "sha256": "d71455eb4380a69a3a6a2aa77dbefa79d364d4ebf31767afca9802998d0031a5",
      "pose": [
        0.48639386722989864,
        0.16206747447045544,
        0.13682518730149698
      ],
      "timestamp": 3594.699654807,
      "observation_id": 10
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-000.jpg",
      "sha256": "74705970406025ae645d137d689072d73c10da400f02c957e038c5e6d77e2166",
      "pose": [
        0.555795568154349,
        0.15134533127896155,
        0.031805313871543735
      ],
      "timestamp": 3598.039569928,
      "observation_id": 11
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-001.jpg",
      "sha256": "9b94d8bdfb0eb8eb94c71efe87a7a07aa7be7ca4603a966cbba2b7b1d509e14d",
      "pose": [
        0.6297545380276771,
        0.16720251017229,
        0.08670654671169675
      ],
      "timestamp": 3598.705696773,
      "observation_id": 12
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-002.jpg",
      "sha256": "436e1c0001db2ef0a8042d7b413c8f73f650def66a12dea48f57ec03a5d2a147",
      "pose": [
        0.6940955195193579,
        0.17634994054380337,
        0.12329807392889158
      ],
      "timestamp": 3599.236853345,
      "observation_id": 13
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-003.jpg",
      "sha256": "b3e177e2b32ad6a4c1afacb0015beab52f3f0a4fcbf1a69bc553b1a0d1f4e437",
      "pose": [
        0.73117484355827,
        0.18391953043969914,
        0.16767181680494492
      ],
      "timestamp": 3599.772673901,
      "observation_id": 14
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-004.jpg",
      "sha256": "8c49840dd373440c0213164fdc826cdb18814a79c684f93ee77e2b74012a8462",
      "pose": [
        0.7923018441405587,
        0.1994301668890181,
        0.18058555535567677
      ],
      "timestamp": 3600.441045151,
      "observation_id": 15
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-005.jpg",
      "sha256": "9c970f988e25f9e0dd5a58f7ba58d0699a196786d89ca715b0b39c3f5d798963",
      "pose": [
        0.875779746835074,
        0.21633252522586366,
        0.18632471256820216
      ],
      "timestamp": 3601.042672476,
      "observation_id": 16
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-006.jpg",
      "sha256": "80acff4f1150eb5151289b87bf521e43fcdb79e5dd1515b28642399d10525d2e",
      "pose": [
        0.9670345753321313,
        0.24017958624517338,
        0.18984621016720918
      ],
      "timestamp": 3601.775085373,
      "observation_id": 17
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-007.jpg",
      "sha256": "b96855b083ee3a1f8206ff65bc4d5ebb5a4de1a9b1936ebaea7985c80b735237",
      "pose": [
        1.0598943218105912,
        0.2578313111095277,
        0.21193399193846663
      ],
      "timestamp": 3602.441876627,
      "observation_id": 18
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-008.jpg",
      "sha256": "6fa37b3ac6fca1860cf41f5dc1df219f1c48203239bc0af6e3bc517cc0b0744d",
      "pose": [
        1.1343707043904248,
        0.28095570638698397,
        0.21067164643216074
      ],
      "timestamp": 3603.040392667,
      "observation_id": 19
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-009.jpg",
      "sha256": "cf4b3792b562b9d2eccf5a321bb98fbcc069cae89db886fa30b3fe81215e1a67",
      "pose": [
        1.1957559863639382,
        0.2903845806089176,
        0.13796929409148673
      ],
      "timestamp": 3603.643756473,
      "observation_id": 20
    }
  ],
  "time_resampled_indices": [
    1,
    2,
    3,
    4,
    5,
    6,
    7,
    8,
    10,
    11,
    12,
    13,
    14,
    15,
    16,
    17,
    18,
    19,
    20
  ],
  "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": 3.3399151210001037,
    "unobserved_time_filled": false
  },
  "history_indices": [
    0,
    1,
    2,
    3,
    4,
    5,
    6,
    7,
    8,
    9,
    10,
    11,
    12,
    13,
    14,
    15,
    16,
    17,
    18
  ],
  "segments": [
    {
      "indices": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10,
        11,
        12,
        13,
        14,
        15,
        16,
        16
      ],
      "tensor": "processed/segment0.pt",
      "shape": [
        18,
        3,
        256,
        448
      ]
    },
    {
      "indices": [
        17,
        18
      ],
      "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:<4.4 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|><3.9 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|><3.4 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|><2.9 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|><2.4 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|><1.9 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|><1.4 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|><0.9 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|><0.5 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 to the white board and turn right to the person in white clothes</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,
        19,
        13,
        19,
        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,
        24,
        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,
        19,
        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,
        24,
        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,
        19,
        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,
        24,
        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,
        19,
        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,
        24,
        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,
        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,
        311,
        279,
        4158,
        4479,
        323,
        2484,
        1290,
        311,
        279,
        1697,
        304,
        4158,
        15097,
        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:<4.4 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|><3.9 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|><3.4 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|><2.9 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|><2.4 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|><1.9 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|><1.4 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|><0.9 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|><0.5 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 to the white board and turn right to the person in white clothes</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,
        526
      ],
      "attention_mask": [
        1,
        526
      ],
      "pixel_values_videos": [
        1,
        4480,
        1536
      ],
      "video_grid_thw": [
        2,
        3
      ],
      "_original_video_grid_thw": [
        2,
        3
      ],
      "_post_vit_pool_factors": [
        2
      ],
      "position_ids": [
        1,
        3,
        526
      ],
      "mm_token_type_ids": [
        1,
        526
      ]
    }
  },
  "history_fps": 4,
  "model_history_refs": [
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-000.jpg",
      "sha256": "1a60a8ae0ab79c51712ec0df18e716228d37ed6989ceca3cde693670ab2d82a4",
      "pose": [
        0.03965802720076225,
        0.010627571923948715,
        0.1505657113493566
      ],
      "timestamp": 3589.763043482,
      "observation_id": 1
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-001.jpg",
      "sha256": "5c263cc2b63471cbbca6edcfa3cb0b1bb0bef4bf18fc35f4b718859e6b6ecb03",
      "pose": [
        0.09525413132124641,
        0.02913177061381536,
        0.35652032824991453
      ],
      "timestamp": 3590.699997403,
      "observation_id": 2
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-002.jpg",
      "sha256": "048a52ad30053cff0f619892c05f0276449c95c9977f24cff566334b1ba0d178",
      "pose": [
        0.14797591123579124,
        0.06448690374656263,
        0.3894321187772327
      ],
      "timestamp": 3591.164350304,
      "observation_id": 3
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-003.jpg",
      "sha256": "e52ccced0d546dc3e08ea19f8162c5f4bd01f1706b5f1c58efee00b524d5c960",
      "pose": [
        0.22036049205725422,
        0.09212067386266945,
        0.39830990565250923
      ],
      "timestamp": 3591.831448738,
      "observation_id": 4
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-004.jpg",
      "sha256": "6f789cd78c6660e10cd65a94f2b97c202d7b9f4f67f1fc732b2864def5a626f1",
      "pose": [
        0.29922579536339977,
        0.129669810671794,
        0.3286780599412653
      ],
      "timestamp": 3592.567372711,
      "observation_id": 5
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-005.jpg",
      "sha256": "05a020908f57382b50c490b33614dd3d12d24186ff6cab95605123f662ddd618",
      "pose": [
        0.3748834951528522,
        0.14601963375138813,
        0.27268649593471045
      ],
      "timestamp": 3593.100469612,
      "observation_id": 6
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-006.jpg",
      "sha256": "bf3a149655c8a1f5fdf243e1a76778d15ae1d4127c56574d48018b351a3f1ba3",
      "pose": [
        0.4330193982420903,
        0.15664617776439188,
        0.16845493825409805
      ],
      "timestamp": 3593.766580873,
      "observation_id": 7
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-007.jpg",
      "sha256": "f545b50b9917970762b581019913422ebcbb7c2895828741410eb8541848bf1f",
      "pose": [
        0.4695561351703259,
        0.16116790464706326,
        0.11033055234782818
      ],
      "timestamp": 3594.234711804,
      "observation_id": 8
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000001/input-009.jpg",
      "sha256": "d71455eb4380a69a3a6a2aa77dbefa79d364d4ebf31767afca9802998d0031a5",
      "pose": [
        0.48639386722989864,
        0.16206747447045544,
        0.13682518730149698
      ],
      "timestamp": 3594.699654807,
      "observation_id": 10
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-000.jpg",
      "sha256": "74705970406025ae645d137d689072d73c10da400f02c957e038c5e6d77e2166",
      "pose": [
        0.555795568154349,
        0.15134533127896155,
        0.031805313871543735
      ],
      "timestamp": 3598.039569928,
      "observation_id": 11
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-001.jpg",
      "sha256": "9b94d8bdfb0eb8eb94c71efe87a7a07aa7be7ca4603a966cbba2b7b1d509e14d",
      "pose": [
        0.6297545380276771,
        0.16720251017229,
        0.08670654671169675
      ],
      "timestamp": 3598.705696773,
      "observation_id": 12
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-002.jpg",
      "sha256": "436e1c0001db2ef0a8042d7b413c8f73f650def66a12dea48f57ec03a5d2a147",
      "pose": [
        0.6940955195193579,
        0.17634994054380337,
        0.12329807392889158
      ],
      "timestamp": 3599.236853345,
      "observation_id": 13
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-003.jpg",
      "sha256": "b3e177e2b32ad6a4c1afacb0015beab52f3f0a4fcbf1a69bc553b1a0d1f4e437",
      "pose": [
        0.73117484355827,
        0.18391953043969914,
        0.16767181680494492
      ],
      "timestamp": 3599.772673901,
      "observation_id": 14
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-004.jpg",
      "sha256": "8c49840dd373440c0213164fdc826cdb18814a79c684f93ee77e2b74012a8462",
      "pose": [
        0.7923018441405587,
        0.1994301668890181,
        0.18058555535567677
      ],
      "timestamp": 3600.441045151,
      "observation_id": 15
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-005.jpg",
      "sha256": "9c970f988e25f9e0dd5a58f7ba58d0699a196786d89ca715b0b39c3f5d798963",
      "pose": [
        0.875779746835074,
        0.21633252522586366,
        0.18632471256820216
      ],
      "timestamp": 3601.042672476,
      "observation_id": 16
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-006.jpg",
      "sha256": "80acff4f1150eb5151289b87bf521e43fcdb79e5dd1515b28642399d10525d2e",
      "pose": [
        0.9670345753321313,
        0.24017958624517338,
        0.18984621016720918
      ],
      "timestamp": 3601.775085373,
      "observation_id": 17
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-007.jpg",
      "sha256": "b96855b083ee3a1f8206ff65bc4d5ebb5a4de1a9b1936ebaea7985c80b735237",
      "pose": [
        1.0598943218105912,
        0.2578313111095277,
        0.21193399193846663
      ],
      "timestamp": 3602.441876627,
      "observation_id": 18
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-008.jpg",
      "sha256": "6fa37b3ac6fca1860cf41f5dc1df219f1c48203239bc0af6e3bc517cc0b0744d",
      "pose": [
        1.1343707043904248,
        0.28095570638698397,
        0.21067164643216074
      ],
      "timestamp": 3603.040392667,
      "observation_id": 19
    },
    {
      "path": "/home/siqiteam/real_baseline_deploy/lightnav/final_logs/episode-20261019-115227-1660f54f/steps/000002/input-009.jpg",
      "sha256": "cf4b3792b562b9d2eccf5a321bb98fbcc069cae89db886fa30b3fe81215e1a67",
      "pose": [
        1.1957559863639382,
        0.2903845806089176,
        0.13796929409148673
      ],
      "timestamp": 3603.643756473,
      "observation_id": 20
    }
  ]
}
