| { |
| "episode_id": "117", |
| "scene_id": "TbHJrupSAjP", |
| "object_category": "bed", |
| "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": "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 **bed**.\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</candidates>\n\nChoose one candidate id. Output only the integer id.\n", |
| "selected_frontier_local_index": 1, |
| "selected_frontier_pixel": [ |
| [ |
| 174, |
| 143 |
| ] |
| ] |
| } |
| }, |
| { |
| "step": 13, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 14, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 15, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 16, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 17, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 18, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 8)" |
| }, |
| { |
| "step": 19, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 7)" |
| }, |
| { |
| "step": 20, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 7)" |
| }, |
| { |
| "step": 21, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 6)" |
| }, |
| { |
| "step": 22, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": "Following previous frontier (steps remaining: 6)" |
| }, |
| { |
| "step": 23, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 5)" |
| }, |
| { |
| "step": 24, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 4)" |
| }, |
| { |
| "step": 25, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 3)" |
| }, |
| { |
| "step": 26, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 2)" |
| }, |
| { |
| "step": 27, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 1)" |
| }, |
| { |
| "step": 28, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 0)" |
| }, |
| { |
| "step": 29, |
| "action": "turn_right", |
| "action_id": 3, |
| "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 **bed**.\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</candidates>\n\nChoose one candidate id. Output only the integer id.\n", |
| "selected_frontier_local_index": 1, |
| "selected_frontier_pixel": [ |
| [ |
| 171, |
| 220 |
| ] |
| ] |
| } |
| }, |
| { |
| "step": 30, |
| "action": "turn_right", |
| "action_id": 3, |
| "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": "turn_right", |
| "action_id": 3, |
| "info": "Following previous frontier (steps remaining: 7)" |
| }, |
| { |
| "step": 34, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 6)" |
| }, |
| { |
| "step": 35, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 6)" |
| }, |
| { |
| "step": 36, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 5)" |
| }, |
| { |
| "step": 37, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 4)" |
| }, |
| { |
| "step": 38, |
| "action": "move_forward", |
| "action_id": 1, |
| "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": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 1)" |
| }, |
| { |
| "step": 42, |
| "action": "turn_right", |
| "action_id": 3, |
| "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": "turn_left", |
| "action_id": 2, |
| "info": { |
| "raw_output": "3", |
| "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 **bed**.\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</candidates>\n\nChoose one candidate id. Output only the integer id.\n", |
| "selected_frontier_local_index": 3, |
| "selected_frontier_pixel": [ |
| [ |
| 244, |
| 172 |
| ] |
| ] |
| } |
| }, |
| { |
| "step": 45, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 46, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 47, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 48, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 49, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 50, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 8)" |
| }, |
| { |
| "step": 51, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 7)" |
| }, |
| { |
| "step": 52, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 6)" |
| }, |
| { |
| "step": 53, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 5)" |
| }, |
| { |
| "step": 54, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 4)" |
| }, |
| { |
| "step": 55, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 3)" |
| }, |
| { |
| "step": 56, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 3)" |
| }, |
| { |
| "step": 57, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 2)" |
| }, |
| { |
| "step": 58, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": "Following previous frontier (steps remaining: 2)" |
| }, |
| { |
| "step": 59, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": "Following previous frontier (steps remaining: 2)" |
| }, |
| { |
| "step": 60, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": "Following previous frontier (steps remaining: 2)" |
| }, |
| { |
| "step": 61, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 1)" |
| }, |
| { |
| "step": 62, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 1)" |
| }, |
| { |
| "step": 63, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 0)" |
| }, |
| { |
| "step": 64, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": { |
| "raw_output": "2", |
| "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 **bed**.\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": 2, |
| "selected_frontier_pixel": [ |
| [ |
| 204, |
| 183 |
| ] |
| ] |
| } |
| }, |
| { |
| "step": 65, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 66, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 8)" |
| }, |
| { |
| "step": 67, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 7)" |
| }, |
| { |
| "step": 68, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 6)" |
| }, |
| { |
| "step": 69, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 5)" |
| }, |
| { |
| "step": 70, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 4)" |
| }, |
| { |
| "step": 71, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": "Following previous frontier (steps remaining: 4)" |
| }, |
| { |
| "step": 72, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 3)" |
| }, |
| { |
| "step": 73, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 2)" |
| }, |
| { |
| "step": 74, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 1)" |
| }, |
| { |
| "step": 75, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": { |
| "raw_output": "13", |
| "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 **bed**.\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<cand> id=11 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=12 type=frontier Frontier view <image_ego> <e_cand>\n<cand> id=13 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": 13, |
| "selected_frontier_pixel": [ |
| [ |
| 149, |
| 202 |
| ] |
| ] |
| } |
| }, |
| { |
| "step": 76, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 8)" |
| }, |
| { |
| "step": 77, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 7)" |
| }, |
| { |
| "step": 78, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 6)" |
| }, |
| { |
| "step": 79, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 5)" |
| }, |
| { |
| "step": 80, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": "Following previous frontier (steps remaining: 5)" |
| }, |
| { |
| "step": 81, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 4)" |
| }, |
| { |
| "step": 82, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 3)" |
| }, |
| { |
| "step": 83, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 3)" |
| }, |
| { |
| "step": 84, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 2)" |
| }, |
| { |
| "step": 85, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 1)" |
| }, |
| { |
| "step": 86, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": "Following previous frontier (steps remaining: 1)" |
| }, |
| { |
| "step": 87, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 0)" |
| }, |
| { |
| "step": 88, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": { |
| "raw_output": "11", |
| "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 **bed**.\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<cand> id=11 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": 11, |
| "selected_frontier_pixel": [ |
| [ |
| 192, |
| 210 |
| ] |
| ] |
| } |
| }, |
| { |
| "step": 89, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 90, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 8)" |
| }, |
| { |
| "step": 91, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 7)" |
| }, |
| { |
| "step": 92, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": "Following previous frontier (steps remaining: 7)" |
| }, |
| { |
| "step": 93, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 6)" |
| }, |
| { |
| "step": 94, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 5)" |
| }, |
| { |
| "step": 95, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 5)" |
| }, |
| { |
| "step": 96, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 4)" |
| }, |
| { |
| "step": 97, |
| "action": "stop", |
| "action_id": 0, |
| "info": "Following previous frontier (steps remaining: 4)" |
| }, |
| { |
| "step": 98, |
| "action": "stop", |
| "action_id": 0, |
| "info": "Following previous frontier (steps remaining: 4)" |
| } |
| ], |
| "success": 1.0, |
| "spl": 0.5647227466784527, |
| "total_steps": 99, |
| "avg_inference_time": 0.3887570301691691 |
| } |
