| { |
| "episode_id": "1", |
| "scene_id": "TbHJrupSAjP", |
| "object_category": "counter", |
| "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": "5", |
| "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 **counter**.\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": 5, |
| "selected_frontier_pixel": [ |
| [ |
| 341, |
| 196 |
| ] |
| ] |
| } |
| }, |
| { |
| "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": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 3)" |
| }, |
| { |
| "step": 20, |
| "action": "turn_left", |
| "action_id": 2, |
| "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_right", |
| "action_id": 3, |
| "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": "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 **counter**.\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": 3, |
| "selected_frontier_pixel": [ |
| [ |
| 233, |
| 247 |
| ] |
| ] |
| } |
| }, |
| { |
| "step": 26, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 27, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 8)" |
| }, |
| { |
| "step": 28, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 7)" |
| }, |
| { |
| "step": 29, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 7)" |
| }, |
| { |
| "step": 30, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 6)" |
| }, |
| { |
| "step": 31, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": { |
| "raw_output": "9", |
| "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 **counter**.\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=target Target view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n", |
| "selected_frontier_local_index": 9, |
| "selected_frontier_pixel": [ |
| [ |
| 244, |
| 299 |
| ] |
| ] |
| } |
| }, |
| { |
| "step": 32, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 8)" |
| }, |
| { |
| "step": 33, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 7)" |
| }, |
| { |
| "step": 34, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": "Following previous frontier (steps remaining: 7)" |
| }, |
| { |
| "step": 35, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 6)" |
| }, |
| { |
| "step": 36, |
| "action": "turn_left", |
| "action_id": 2, |
| "info": "Following previous frontier (steps remaining: 6)" |
| }, |
| { |
| "step": 37, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 5)" |
| }, |
| { |
| "step": 38, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 4)" |
| }, |
| { |
| "step": 39, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 3)" |
| }, |
| { |
| "step": 40, |
| "action": "move_forward", |
| "action_id": 1, |
| "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_left", |
| "action_id": 2, |
| "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": "9", |
| "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 **counter**.\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=target Target view <image_ego> <e_cand>\n</candidates>\n\nChoose one candidate id. Output only the integer id.\n", |
| "selected_frontier_local_index": 9, |
| "selected_frontier_pixel": [ |
| [ |
| 227, |
| 254 |
| ] |
| ] |
| } |
| }, |
| { |
| "step": 45, |
| "action": "turn_right", |
| "action_id": 3, |
| "info": "Following previous frontier (steps remaining: 9)" |
| }, |
| { |
| "step": 46, |
| "action": "move_forward", |
| "action_id": 1, |
| "info": "Following previous frontier (steps remaining: 8)" |
| }, |
| { |
| "step": 47, |
| "action": "stop", |
| "action_id": 0, |
| "info": "Following previous frontier (steps remaining: 8)" |
| }, |
| { |
| "step": 48, |
| "action": "stop", |
| "action_id": 0, |
| "info": "Following previous frontier (steps remaining: 8)" |
| } |
| ], |
| "success": 1.0, |
| "spl": 0.7793639812915952, |
| "total_steps": 49, |
| "avg_inference_time": 0.36125755310058594 |
| } |
