{
  "status": "ok",
  "native": {
    "actions": [
      [
        0.18071074783802032,
        -0.0011268131202086806,
        -0.02265159972012043
      ],
      [
        0.1765354862234807,
        -0.0037761508953380657,
        -0.0713729914277792
      ],
      [
        0.13775486914650414,
        -0.010164917324798715,
        -0.10328014940023424
      ],
      [
        0.13184604824413496,
        -0.006954015505486404,
        -0.10432671010494232
      ],
      [
        0.08345301032068547,
        0.002960469871358881,
        0.03666713833808898
      ],
      [
        0.06892101680244209,
        0.000751114724234312,
        0.002282619476318359
      ],
      [
        0.12857228229445528,
        0.01121626642680076,
        0.09922170639038086
      ],
      [
        0.13740989895377131,
        0.005300154197275843,
        0.06726379692554474
      ],
      [
        0.13995808471286314,
        0.0025089441387872655,
        0.04292849823832512
      ],
      [
        0.022865550448893036,
        0.00012296918254913868,
        0.007514379918575288
      ]
    ],
    "stop": false,
    "plan": null,
    "raw": "<apos_988><opos_854><act_l0_145><act_l1_47><act_l2_250><|im_end|>",
    "waypoints": [
      [
        0.18071074783802032,
        -0.0011268131202086806,
        -0.02265159972012043
      ],
      [
        0.35711541771888733,
        -0.00890046451240778,
        -0.09402459114789963
      ],
      [
        0.4933074712753296,
        -0.03195375204086304,
        -0.19730474054813385
      ],
      [
        0.6212323307991028,
        -0.06461824476718903,
        -0.30163145065307617
      ],
      [
        0.7017971873283386,
        -0.08658351749181747,
        -0.2649643123149872
      ],
      [
        0.7685096859931946,
        -0.10390729457139969,
        -0.2626816928386688
      ],
      [
        0.8955841064453125,
        -0.12646229565143585,
        -0.16345998644828796
      ],
      [
        1.03202486038208,
        -0.1435939222574234,
        -0.09619618952274323
      ],
      [
        1.1715768575668335,
        -0.15453925728797913,
        -0.053267691284418106
      ],
      [
        1.1944165229797363,
        -0.15563388168811798,
        -0.04575331136584282
      ]
    ],
    "pointing": {
      "apos": 988,
      "opos": 854
    },
    "rvq_codes": [
      145,
      47,
      250
    ],
    "model_input": {
      "history_indices": [
        0,
        1,
        4,
        5,
        10,
        11,
        16,
        17,
        22,
        23,
        28,
        29,
        34,
        35,
        36,
        37,
        38,
        39,
        40,
        41,
        42,
        43,
        44,
        45,
        46,
        47,
        48,
        49,
        50,
        51,
        52,
        53,
        54,
        55,
        56,
        57,
        58,
        59,
        60,
        61,
        62,
        63,
        64,
        65,
        66,
        67,
        68,
        69
      ],
      "segments": [
        {
          "indices": [
            0,
            1
          ],
          "tensor": "processed/segment0.pt",
          "shape": [
            2,
            3,
            256,
            448
          ]
        },
        {
          "indices": [
            4,
            5,
            10,
            11,
            16,
            17,
            22,
            23,
            28,
            29,
            34,
            35
          ],
          "tensor": "processed/segment1.pt",
          "shape": [
            12,
            3,
            256,
            448
          ]
        },
        {
          "indices": [
            36,
            37,
            38,
            39,
            40,
            41,
            42,
            43,
            44,
            45,
            46,
            47,
            48,
            49,
            50,
            51,
            52,
            53,
            54,
            55,
            56,
            57,
            58,
            59,
            60,
            61,
            62,
            63,
            64,
            65,
            66,
            67
          ],
          "tensor": "processed/segment2.pt",
          "shape": [
            32,
            3,
            256,
            448
          ]
        },
        {
          "indices": [
            68,
            69
          ],
          "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:<17.1 seconds><|vision_start|><|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 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,
            16,
            22,
            13,
            16,
            6486,
            29,
            151652,
            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,
            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:<17.1 seconds><|vision_start|><|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 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,
            1016
          ],
          "attention_mask": [
            1,
            1016
          ],
          "pixel_values_videos": [
            1,
            10752,
            1536
          ],
          "video_grid_thw": [
            4,
            3
          ],
          "_original_video_grid_thw": [
            4,
            3
          ],
          "_post_vit_pool_factors": [
            4
          ],
          "position_ids": [
            1,
            3,
            1016
          ],
          "mm_token_type_ids": [
            1,
            1016
          ]
        }
      },
      "history_fps": 4
    },
    "native_latency_ms": 251.25333527103066
  },
  "response": {
    "type": "step",
    "actions": [
      [
        0.18071074783802032,
        -0.0011268131202086806,
        -0.02265159972012043
      ],
      [
        0.1765354862234807,
        -0.0037761508953380657,
        -0.0713729914277792
      ],
      [
        0.13775486914650414,
        -0.010164917324798715,
        -0.10328014940023424
      ],
      [
        0.13184604824413496,
        -0.006954015505486404,
        -0.10432671010494232
      ],
      [
        0.08345301032068547,
        0.002960469871358881,
        0.03666713833808898
      ],
      [
        0.06892101680244209,
        0.000751114724234312,
        0.002282619476318359
      ],
      [
        0.12857228229445528,
        0.01121626642680076,
        0.09922170639038086
      ],
      [
        0.13740989895377131,
        0.005300154197275843,
        0.06726379692554474
      ],
      [
        0.13995808471286314,
        0.0025089441387872655,
        0.04292849823832512
      ],
      [
        0.022865550448893036,
        0.00012296918254913868,
        0.007514379918575288
      ],
      [
        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-20261019-115227-1660f54f",
    "inference_id": 7,
    "model": "lightnav",
    "model_inference_executed": true
  },
  "model_seconds": 0.4298660880886018,
  "peak_memory_bytes": 9609009152,
  "allocated_memory_bytes": 9095067648,
  "reserved_memory_bytes": 10684989440,
  "load_count": 1,
  "total_seconds": 0.43448050087317824
}