{
  "episode_id": "116",
  "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": "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 **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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 4,
        "selected_frontier_pixel": [
          [
            320,
            254
          ]
        ]
      }
    },
    {
      "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": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 16,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 17,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 18,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 19,
      "action": "move_forward",
      "action_id": 1,
      "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": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 24,
      "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 **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": 5,
        "selected_frontier_pixel": [
          [
            264,
            264
          ]
        ]
      }
    },
    {
      "step": 25,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 26,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 27,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 28,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 29,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 30,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 31,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 32,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 33,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 34,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 35,
      "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": [
          [
            221,
            304
          ]
        ]
      }
    },
    {
      "step": 36,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 37,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 38,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 39,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 40,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 41,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 42,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 43,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 44,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 45,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 46,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 47,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 48,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 49,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 50,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 51,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 52,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 53,
      "action": "turn_left",
      "action_id": 2,
      "info": {
        "raw_output": "6",
        "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": 6,
        "selected_frontier_pixel": [
          [
            277,
            172
          ]
        ]
      }
    },
    {
      "step": 54,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 55,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 56,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 57,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 58,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 59,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 60,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 61,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 62,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 63,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 64,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 65,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 66,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 67,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 68,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 69,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 70,
      "action": "move_forward",
      "action_id": 1,
      "info": {
        "raw_output": "6",
        "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": 6,
        "selected_frontier_pixel": [
          [
            285,
            183
          ]
        ]
      }
    },
    {
      "step": 71,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 72,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 73,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 74,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 75,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 76,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 77,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 78,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 79,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 80,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 81,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 82,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 83,
      "action": "move_forward",
      "action_id": 1,
      "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 **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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 8,
        "selected_frontier_pixel": [
          [
            253,
            214
          ]
        ]
      }
    },
    {
      "step": 84,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 85,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 86,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 87,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 88,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 89,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 90,
      "action": "turn_right",
      "action_id": 3,
      "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=frontier Frontier 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": [
          [
            258,
            151
          ]
        ]
      }
    },
    {
      "step": 91,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 92,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 93,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 94,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 95,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 96,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 97,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 98,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 99,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 100,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 101,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 102,
      "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 **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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 8,
        "selected_frontier_pixel": [
          [
            227,
            176
          ]
        ]
      }
    },
    {
      "step": 103,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 104,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 105,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 106,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 107,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 108,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 109,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 110,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 111,
      "action": "turn_left",
      "action_id": 2,
      "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_right",
      "action_id": 3,
      "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 **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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 8,
        "selected_frontier_pixel": [
          [
            201,
            195
          ]
        ]
      }
    },
    {
      "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_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 123,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 124,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 125,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 126,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 127,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 128,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 129,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 130,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 131,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 132,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 133,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 134,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 135,
      "action": "turn_left",
      "action_id": 2,
      "info": {
        "raw_output": "7",
        "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 7,
        "selected_frontier_pixel": [
          [
            278,
            222
          ]
        ]
      }
    },
    {
      "step": 136,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 137,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 138,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 139,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 140,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 141,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 142,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 143,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 144,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 145,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 146,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 147,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 148,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 149,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 150,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 151,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 152,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 153,
      "action": "turn_right",
      "action_id": 3,
      "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 **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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 8,
        "selected_frontier_pixel": [
          [
            240,
            203
          ]
        ]
      }
    },
    {
      "step": 154,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 155,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 156,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 157,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 158,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 159,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 160,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 161,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 162,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 163,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 164,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 165,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 166,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 167,
      "action": "turn_right",
      "action_id": 3,
      "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 3,
        "selected_frontier_pixel": [
          [
            146,
            376
          ]
        ]
      }
    },
    {
      "step": 168,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 169,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 170,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 171,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 172,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 173,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 174,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 175,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 176,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 177,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 178,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 179,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 180,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 181,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 182,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 183,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 184,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 185,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 186,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 187,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 188,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 189,
      "action": "move_forward",
      "action_id": 1,
      "info": {
        "raw_output": "7",
        "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": 7,
        "selected_frontier_pixel": [
          [
            178,
            359
          ]
        ]
      }
    },
    {
      "step": 190,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 191,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 192,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 193,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 194,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 195,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 196,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 197,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 198,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 199,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 200,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 201,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 202,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 203,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 204,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 205,
      "action": "turn_left",
      "action_id": 2,
      "info": {
        "raw_output": "6",
        "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": 6,
        "selected_frontier_pixel": [
          [
            181,
            217
          ]
        ]
      }
    },
    {
      "step": 206,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 207,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 208,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 209,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 210,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 211,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 212,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 213,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 214,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 215,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 216,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 217,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 218,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 219,
      "action": "turn_right",
      "action_id": 3,
      "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 **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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 8,
        "selected_frontier_pixel": [
          [
            246,
            310
          ]
        ]
      }
    },
    {
      "step": 220,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 221,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 222,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 223,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 224,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 225,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 226,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 227,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 228,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 229,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 230,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 231,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 232,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 233,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 234,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 235,
      "action": "turn_left",
      "action_id": 2,
      "info": {
        "raw_output": "7",
        "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 7,
        "selected_frontier_pixel": [
          [
            210,
            133
          ]
        ]
      }
    },
    {
      "step": 236,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 237,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 238,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 239,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 240,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 241,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 242,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 243,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 244,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 245,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 246,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 247,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 248,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 249,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 250,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 251,
      "action": "move_forward",
      "action_id": 1,
      "info": {
        "raw_output": "7",
        "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 7,
        "selected_frontier_pixel": [
          [
            212,
            145
          ]
        ]
      }
    },
    {
      "step": 252,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 253,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 254,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 255,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 256,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 257,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 258,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 259,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 260,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 261,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 262,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 263,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 264,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 265,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 266,
      "action": "move_forward",
      "action_id": 1,
      "info": {
        "raw_output": "7",
        "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 7,
        "selected_frontier_pixel": [
          [
            208,
            201
          ]
        ]
      }
    },
    {
      "step": 267,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 268,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 269,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 270,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 271,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 272,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 273,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 274,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 275,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 276,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 277,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 278,
      "action": "turn_left",
      "action_id": 2,
      "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 **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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 4,
        "selected_frontier_pixel": [
          [
            266,
            440
          ]
        ]
      }
    },
    {
      "step": 279,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 280,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 281,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 282,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 283,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 284,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 285,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 286,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 287,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 288,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 289,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 290,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 291,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 292,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 293,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 294,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 295,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 296,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 297,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 298,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 299,
      "action": "turn_left",
      "action_id": 2,
      "info": {
        "raw_output": "7",
        "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": 7,
        "selected_frontier_pixel": [
          [
            255,
            401
          ]
        ]
      }
    },
    {
      "step": 300,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 301,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 302,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 303,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 304,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 305,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 306,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 307,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 308,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 309,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 310,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 311,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 312,
      "action": "move_forward",
      "action_id": 1,
      "info": {
        "raw_output": "7",
        "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": 7,
        "selected_frontier_pixel": [
          [
            253,
            357
          ]
        ]
      }
    },
    {
      "step": 313,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 314,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 315,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 316,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 317,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 318,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 319,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 320,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 321,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 322,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 323,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 324,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 325,
      "action": "turn_right",
      "action_id": 3,
      "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 **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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 8,
        "selected_frontier_pixel": [
          [
            243,
            317
          ]
        ]
      }
    },
    {
      "step": 326,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 327,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 328,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 329,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 330,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 331,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 332,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 333,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 334,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 335,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 336,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 337,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 338,
      "action": "turn_right",
      "action_id": 3,
      "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 **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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 8,
        "selected_frontier_pixel": [
          [
            228,
            324
          ]
        ]
      }
    },
    {
      "step": 339,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 340,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 341,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 342,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 343,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 344,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 345,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 346,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 347,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 348,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 349,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 350,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 351,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 352,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 353,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 354,
      "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 **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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 8,
        "selected_frontier_pixel": [
          [
            204,
            255
          ]
        ]
      }
    },
    {
      "step": 355,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 356,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 357,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 358,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 359,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 360,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 361,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 362,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 363,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 364,
      "action": "turn_right",
      "action_id": 3,
      "info": {
        "raw_output": "7",
        "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 7,
        "selected_frontier_pixel": [
          [
            184,
            245
          ]
        ]
      }
    },
    {
      "step": 365,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 366,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 367,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 368,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 369,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 370,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 371,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 372,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 373,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 374,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 375,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 376,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 377,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 378,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 379,
      "action": "turn_left",
      "action_id": 2,
      "info": {
        "raw_output": "7",
        "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": 7,
        "selected_frontier_pixel": [
          [
            245,
            189
          ]
        ]
      }
    },
    {
      "step": 380,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 381,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 382,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 383,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 384,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 385,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 386,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 387,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 388,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 389,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 390,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 391,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 392,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 393,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 394,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 395,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 396,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 397,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 398,
      "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 3,
        "selected_frontier_pixel": [
          [
            106,
            230
          ]
        ]
      }
    },
    {
      "step": 399,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 400,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 401,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 402,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 403,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 404,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 405,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 406,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 407,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 408,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 409,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 410,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 411,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 412,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 413,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 414,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 415,
      "action": "move_forward",
      "action_id": 1,
      "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 3,
        "selected_frontier_pixel": [
          [
            84,
            250
          ]
        ]
      }
    },
    {
      "step": 416,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 417,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 418,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 419,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 420,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 421,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 422,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 423,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 424,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 425,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 426,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 427,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 428,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 429,
      "action": "turn_right",
      "action_id": 3,
      "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 3,
        "selected_frontier_pixel": [
          [
            88,
            298
          ]
        ]
      }
    },
    {
      "step": 430,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 431,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 432,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 433,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 434,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 435,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 436,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 437,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 438,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 439,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 440,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 441,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 442,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 443,
      "action": "move_forward",
      "action_id": 1,
      "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 3,
        "selected_frontier_pixel": [
          [
            116,
            320
          ]
        ]
      }
    },
    {
      "step": 444,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 445,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 446,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 447,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 448,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 449,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 450,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 451,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 452,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 453,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 454,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 455,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 456,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 457,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 458,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 459,
      "action": "turn_right",
      "action_id": 3,
      "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 3,
        "selected_frontier_pixel": [
          [
            161,
            309
          ]
        ]
      }
    },
    {
      "step": 460,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 461,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 462,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 463,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 464,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 465,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 466,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 467,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 468,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 469,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 470,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 471,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 472,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 473,
      "action": "move_forward",
      "action_id": 1,
      "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 3,
        "selected_frontier_pixel": [
          [
            182,
            272
          ]
        ]
      }
    },
    {
      "step": 474,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 475,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 476,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 477,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 478,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 479,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 480,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 481,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 482,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 483,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    },
    {
      "step": 484,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 485,
      "action": "turn_right",
      "action_id": 3,
      "info": "Following previous frontier (steps remaining: 1)"
    },
    {
      "step": 486,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 0)"
    },
    {
      "step": 487,
      "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</candidates>\n\nChoose one candidate id. Output only the integer id.\n",
        "selected_frontier_local_index": 3,
        "selected_frontier_pixel": [
          [
            311,
            239
          ]
        ]
      }
    },
    {
      "step": 488,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 489,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 490,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 491,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 492,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 9)"
    },
    {
      "step": 493,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 494,
      "action": "turn_left",
      "action_id": 2,
      "info": "Following previous frontier (steps remaining: 8)"
    },
    {
      "step": 495,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 7)"
    },
    {
      "step": 496,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 6)"
    },
    {
      "step": 497,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 5)"
    },
    {
      "step": 498,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 4)"
    },
    {
      "step": 499,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 3)"
    },
    {
      "step": 500,
      "action": "move_forward",
      "action_id": 1,
      "info": "Following previous frontier (steps remaining: 2)"
    }
  ],
  "success": 0.0,
  "spl": 0.0,
  "total_steps": 501,
  "avg_inference_time": 0.36411960197217536
}