| { | |
| "episode_id": "100", | |
| "scene_id": "TbHJrupSAjP", | |
| "object_category": "table", | |
| "steps": [ | |
| { | |
| "step": 0, | |
| "action": "RIGHT", | |
| "action_id": 3, | |
| "info": "Make a panorama first." | |
| }, | |
| { | |
| "step": 1, | |
| "action": "RIGHT", | |
| "action_id": 3, | |
| "info": "Make a panorama first." | |
| }, | |
| { | |
| "step": 2, | |
| "action": "RIGHT", | |
| "action_id": 3, | |
| "info": "Make a panorama first." | |
| }, | |
| { | |
| "step": 3, | |
| "action": "RIGHT", | |
| "action_id": 3, | |
| "info": "Make a panorama first." | |
| }, | |
| { | |
| "step": 4, | |
| "action": "RIGHT", | |
| "action_id": 3, | |
| "info": "Make a panorama first." | |
| }, | |
| { | |
| "step": 5, | |
| "action": "RIGHT", | |
| "action_id": 3, | |
| "info": "Make a panorama first." | |
| }, | |
| { | |
| "step": 6, | |
| "action": "RIGHT", | |
| "action_id": 3, | |
| "info": "Make a panorama first." | |
| }, | |
| { | |
| "step": 7, | |
| "action": "RIGHT", | |
| "action_id": 3, | |
| "info": "Make a panorama first." | |
| }, | |
| { | |
| "step": 8, | |
| "action": "RIGHT", | |
| "action_id": 3, | |
| "info": "Make a panorama first." | |
| }, | |
| { | |
| "step": 9, | |
| "action": "RIGHT", | |
| "action_id": 3, | |
| "info": "Make a panorama first." | |
| }, | |
| { | |
| "step": 10, | |
| "action": "RIGHT", | |
| "action_id": 3, | |
| "info": "Make a panorama first." | |
| }, | |
| { | |
| "step": 11, | |
| "action": "RIGHT", | |
| "action_id": 3, | |
| "info": "Make a panorama first." | |
| }, | |
| { | |
| "step": 12, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": { | |
| "raw_output": "4", | |
| "question": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **table**.\n\n<state> <s> <e_s>\n\n<candidates>\n<cand> id=0 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n", | |
| "selected_frontier_local_index": 4, | |
| "selected_frontier_pixel": [ | |
| [ | |
| 229, | |
| 157 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "step": 13, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 8)" | |
| }, | |
| { | |
| "step": 14, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 7)" | |
| }, | |
| { | |
| "step": 15, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 6)" | |
| }, | |
| { | |
| "step": 16, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 6)" | |
| }, | |
| { | |
| "step": 17, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 5)" | |
| }, | |
| { | |
| "step": 18, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 4)" | |
| }, | |
| { | |
| "step": 19, | |
| "action": "turn_right", | |
| "action_id": 3, | |
| "info": "Following previous frontier (steps remaining: 4)" | |
| }, | |
| { | |
| "step": 20, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 21, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 22, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 23, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 24, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 0)" | |
| }, | |
| { | |
| "step": 25, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": { | |
| "raw_output": "0", | |
| "question": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **table**.\n\n<state> <s> <e_s>\n\n<candidates>\n<cand> id=0 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n", | |
| "selected_frontier_local_index": 0, | |
| "selected_frontier_pixel": [ | |
| [ | |
| 117, | |
| 260 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "step": 26, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 27, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 28, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 29, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 30, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 31, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 8)" | |
| }, | |
| { | |
| "step": 32, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 7)" | |
| }, | |
| { | |
| "step": 33, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 6)" | |
| }, | |
| { | |
| "step": 34, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 5)" | |
| }, | |
| { | |
| "step": 35, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 4)" | |
| }, | |
| { | |
| "step": 36, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 4)" | |
| }, | |
| { | |
| "step": 37, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 38, | |
| "action": "turn_right", | |
| "action_id": 3, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 39, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 40, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 41, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 42, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 43, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 0)" | |
| }, | |
| { | |
| "step": 44, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": { | |
| "raw_output": "0", | |
| "question": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **table**.\n\n<state> <s> <e_s>\n\n<candidates>\n<cand> id=0 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n", | |
| "selected_frontier_local_index": 0, | |
| "selected_frontier_pixel": [ | |
| [ | |
| 137, | |
| 225 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "step": 45, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 8)" | |
| }, | |
| { | |
| "step": 46, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 7)" | |
| }, | |
| { | |
| "step": 47, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 6)" | |
| }, | |
| { | |
| "step": 48, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 5)" | |
| }, | |
| { | |
| "step": 49, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 4)" | |
| }, | |
| { | |
| "step": 50, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 51, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 52, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 53, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 0)" | |
| }, | |
| { | |
| "step": 54, | |
| "action": "turn_right", | |
| "action_id": 3, | |
| "info": { | |
| "raw_output": "0", | |
| "question": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **table**.\n\n<state> <s> <e_s>\n\n<candidates>\n<cand> id=0 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n", | |
| "selected_frontier_local_index": 0, | |
| "selected_frontier_pixel": [ | |
| [ | |
| 131, | |
| 214 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "step": 55, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 8)" | |
| }, | |
| { | |
| "step": 56, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 8)" | |
| }, | |
| { | |
| "step": 57, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 7)" | |
| }, | |
| { | |
| "step": 58, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 6)" | |
| }, | |
| { | |
| "step": 59, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 5)" | |
| }, | |
| { | |
| "step": 60, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 4)" | |
| }, | |
| { | |
| "step": 61, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 62, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 63, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 64, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 0)" | |
| }, | |
| { | |
| "step": 65, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": { | |
| "raw_output": "0", | |
| "question": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **table**.\n\n<state> <s> <e_s>\n\n<candidates>\n<cand> id=0 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=10 type=frontier Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n", | |
| "selected_frontier_local_index": 0, | |
| "selected_frontier_pixel": [ | |
| [ | |
| 175, | |
| 204 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "step": 66, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 8)" | |
| }, | |
| { | |
| "step": 67, | |
| "action": "turn_right", | |
| "action_id": 3, | |
| "info": "Following previous frontier (steps remaining: 8)" | |
| }, | |
| { | |
| "step": 68, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 7)" | |
| }, | |
| { | |
| "step": 69, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 7)" | |
| }, | |
| { | |
| "step": 70, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 6)" | |
| }, | |
| { | |
| "step": 71, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 5)" | |
| }, | |
| { | |
| "step": 72, | |
| "action": "turn_right", | |
| "action_id": 3, | |
| "info": "Following previous frontier (steps remaining: 5)" | |
| }, | |
| { | |
| "step": 73, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 4)" | |
| }, | |
| { | |
| "step": 74, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 75, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 76, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 77, | |
| "action": "turn_right", | |
| "action_id": 3, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 78, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 79, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 80, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 0)" | |
| }, | |
| { | |
| "step": 81, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": { | |
| "raw_output": "1", | |
| "question": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **table**.\n\n<state> <s> <e_s>\n\n<candidates>\n<cand> id=0 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier Frontier view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n", | |
| "selected_frontier_local_index": 1, | |
| "selected_frontier_pixel": [ | |
| [ | |
| 285, | |
| 215 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "step": 82, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 83, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 84, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 85, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 86, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 87, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 8)" | |
| }, | |
| { | |
| "step": 88, | |
| "action": "turn_right", | |
| "action_id": 3, | |
| "info": "Following previous frontier (steps remaining: 8)" | |
| }, | |
| { | |
| "step": 89, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 7)" | |
| }, | |
| { | |
| "step": 90, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 6)" | |
| }, | |
| { | |
| "step": 91, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 5)" | |
| }, | |
| { | |
| "step": 92, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 4)" | |
| }, | |
| { | |
| "step": 93, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 94, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 95, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 96, | |
| "action": "turn_right", | |
| "action_id": 3, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 97, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 98, | |
| "action": "turn_right", | |
| "action_id": 3, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 99, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 0)" | |
| }, | |
| { | |
| "step": 100, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": { | |
| "raw_output": "10", | |
| "question": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **table**.\n\n<state> <s> <e_s>\n\n<candidates>\n<cand> id=0 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=8 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=9 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=10 type=target Target view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n", | |
| "selected_frontier_local_index": 10, | |
| "selected_frontier_pixel": [ | |
| [ | |
| 179, | |
| 176 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "step": 101, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 102, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 103, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 104, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 105, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 9)" | |
| }, | |
| { | |
| "step": 106, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 8)" | |
| }, | |
| { | |
| "step": 107, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 8)" | |
| }, | |
| { | |
| "step": 108, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 7)" | |
| }, | |
| { | |
| "step": 109, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 6)" | |
| }, | |
| { | |
| "step": 110, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 5)" | |
| }, | |
| { | |
| "step": 111, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 4)" | |
| }, | |
| { | |
| "step": 112, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 113, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 114, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 115, | |
| "action": "turn_right", | |
| "action_id": 3, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 116, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 117, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 118, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 0)" | |
| }, | |
| { | |
| "step": 119, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": { | |
| "raw_output": "8", | |
| "question": "Imagine you are an autonomous robot in an indoor habitat environment.\nInputs:\n- BEV grid map <image_bev> showing free (white), occupied (black), unexplored (gray), frontier candidates (green dots), robot pose/heading (red arrow), past trajectory (blue line), and egocentric camera field of view (yellow cone). An orange dot may appear on the BEV map indicating the detected goal location.\n\n- Goal: search for and navigate to **table**.\n\n<state> <s> <e_s>\n\n<candidates>\n<cand> id=0 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=1 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=2 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=3 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=4 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=5 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=6 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=7 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=8 type=target Target view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n", | |
| "selected_frontier_local_index": 8, | |
| "selected_frontier_pixel": [ | |
| [ | |
| 222, | |
| 175 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "step": 120, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 8)" | |
| }, | |
| { | |
| "step": 121, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 7)" | |
| }, | |
| { | |
| "step": 122, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 7)" | |
| }, | |
| { | |
| "step": 123, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 6)" | |
| }, | |
| { | |
| "step": 124, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 5)" | |
| }, | |
| { | |
| "step": 125, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 4)" | |
| }, | |
| { | |
| "step": 126, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 127, | |
| "action": "turn_right", | |
| "action_id": 3, | |
| "info": "Following previous frontier (steps remaining: 3)" | |
| }, | |
| { | |
| "step": 128, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 129, | |
| "action": "turn_left", | |
| "action_id": 2, | |
| "info": "Following previous frontier (steps remaining: 2)" | |
| }, | |
| { | |
| "step": 130, | |
| "action": "move_forward", | |
| "action_id": 1, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 131, | |
| "action": "stop", | |
| "action_id": 0, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| }, | |
| { | |
| "step": 132, | |
| "action": "stop", | |
| "action_id": 0, | |
| "info": "Following previous frontier (steps remaining: 1)" | |
| } | |
| ], | |
| "success": 1.0, | |
| "spl": 0.2947896280888817, | |
| "total_steps": 133, | |
| "avg_inference_time": 0.4041893780231476 | |
| } |