diff --git "a/mental_rotation_3d_objaverse/train/batch_002457.jsonl" "b/mental_rotation_3d_objaverse/train/batch_002457.jsonl"
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+++ "b/mental_rotation_3d_objaverse/train/batch_002457.jsonl"
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+{"episode": 49140, "episode_seed": 3041530953, "split": "train", "timestamp": "2025-10-24T09:29:58.133287", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_002457", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x746f8b8e9e10>", "max_steps": 20, "abs_size": 336, "master_seed": 2499, "max_long_side": 336, "image_quality": null, "interactor_type": "GroundtruthInteractor", "groundtruth_strategy": "pad3_by-axis", "groundtruth_kwargs": {}, "enable_reasoning": true, "reasoner_class": null}, "run_args": {"render": false, "seed": 3041530953, "verbose": false, "save_verbose": false, "elicit_verbalization": true, "repeat_instructions": false, "include_env_feedback": true, "num_interaction_history": 0, "widget_log": false, "autosave_path": null, "save_history_at_episode_end": false}, "stats": {"step": 16, "reward": 1.0, "terminated": true, "truncated": false}, "history": [{"step": 0, "prompt": "You are solving a 3D mental rotation task. Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, 99.2])</answer>", "action": "('rotate', [0.0, 0.0, 99.2])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [50.5, 0.0, 0.0])</answer>", "action": "('rotate', [50.5, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 105.7, 0.0])</answer>", "action": "('rotate', [0.0, 105.7, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.03 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "f03a8329aaf8db02a08ae2bce41414b9d05e78d7fd8b9f853f4b7d92c967e82c"}
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Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, 21.7])</answer>", "action": "('rotate', [0.0, 0.0, 21.7])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [-29.8, 0.0, 0.0])</answer>", "action": "('rotate', [-29.8, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, -102.6, 0.0])</answer>", "action": "('rotate', [0.0, -102.6, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.04 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "89f99b5a3cad4b9392ebbf61d76db0244c716fc217eeb041ad0896d7307d42dd"}
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Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, 138.3])</answer>", "action": "('rotate', [0.0, 0.0, 138.3])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [-70.5, 0.0, 0.0])</answer>", "action": "('rotate', [-70.5, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 34.3, 0.0])</answer>", "action": "('rotate', [0.0, 34.3, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.08 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "3ca28d1c79538ef0201c8e459b3578cf281b7bcd366895601cf0436045b8e22e"}
+{"episode": 49143, "episode_seed": 1047381656, "split": "train", "timestamp": "2025-10-24T09:30:01.658968", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_002457", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x746f8b8e9e10>", "max_steps": 20, "abs_size": 336, "master_seed": 2499, "max_long_side": 336, "image_quality": null, "interactor_type": "GroundtruthInteractor", "groundtruth_strategy": "pad3_by-axis", "groundtruth_kwargs": {}, "enable_reasoning": true, "reasoner_class": null}, "run_args": {"render": false, "seed": 1047381656, "verbose": false, "save_verbose": false, "elicit_verbalization": true, "repeat_instructions": false, "include_env_feedback": true, "num_interaction_history": 0, "widget_log": false, "autosave_path": null, "save_history_at_episode_end": false}, "stats": {"step": 16, "reward": 1.0, "terminated": true, "truncated": false}, "history": [{"step": 0, "prompt": "You are solving a 3D mental rotation task. Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, 57.7])</answer>", "action": "('rotate', [0.0, 0.0, 57.7])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [-21.8, 0.0, 0.0])</answer>", "action": "('rotate', [-21.8, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 35.5, 0.0])</answer>", "action": "('rotate', [0.0, 35.5, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.04 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "4187b446f85aa44b50b9c6ed2d8483b33c66056081aed50b825ce7527466647f"}
+{"episode": 49144, "episode_seed": 83582340, "split": "train", "timestamp": "2025-10-24T09:30:04.042175", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_002457", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x746f8b8e9e10>", "max_steps": 20, "abs_size": 336, "master_seed": 2499, "max_long_side": 336, "image_quality": null, "interactor_type": "GroundtruthInteractor", "groundtruth_strategy": "pad3_by-axis", "groundtruth_kwargs": {}, "enable_reasoning": true, "reasoner_class": null}, "run_args": {"render": false, "seed": 83582340, "verbose": false, "save_verbose": false, "elicit_verbalization": true, "repeat_instructions": false, "include_env_feedback": true, "num_interaction_history": 0, "widget_log": false, "autosave_path": null, "save_history_at_episode_end": false}, "stats": {"step": 16, "reward": 1.0, "terminated": true, "truncated": false}, "history": [{"step": 0, "prompt": "You are solving a 3D mental rotation task. Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -150.1])</answer>", "action": "('rotate', [0.0, 0.0, -150.1])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [40.7, 0.0, 0.0])</answer>", "action": "('rotate', [40.7, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 158.5, 0.0])</answer>", "action": "('rotate', [0.0, 158.5, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.05 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "9289174c4b99e444adbb9afcf857d0ce60af95be2bcc752e07f0dc45b05920d8"}
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Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -74.9])</answer>", "action": "('rotate', [0.0, 0.0, -74.9])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [46.9, 0.0, 0.0])</answer>", "action": "('rotate', [46.9, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 110.0, 0.0])</answer>", "action": "('rotate', [0.0, 110.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.06 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "b3807b7a710f7e35d0900b4c298d94009e9c2fc6cf288cdb5f65dcdeca54b7f9"}
+{"episode": 49146, "episode_seed": 1845028457, "split": "train", "timestamp": "2025-10-24T09:30:12.624089", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_002457", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x746f8b8e9e10>", "max_steps": 20, "abs_size": 336, "master_seed": 2499, "max_long_side": 336, "image_quality": null, "interactor_type": "GroundtruthInteractor", "groundtruth_strategy": "pad3_by-axis", "groundtruth_kwargs": {}, "enable_reasoning": true, "reasoner_class": null}, "run_args": {"render": false, "seed": 1845028457, "verbose": false, "save_verbose": false, "elicit_verbalization": true, "repeat_instructions": false, "include_env_feedback": true, "num_interaction_history": 0, "widget_log": false, "autosave_path": null, "save_history_at_episode_end": false}, "stats": {"step": 16, "reward": 1.0, "terminated": true, "truncated": false}, "history": [{"step": 0, "prompt": "You are solving a 3D mental rotation task. Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -82.4])</answer>", "action": "('rotate', [0.0, 0.0, -82.4])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [-31.6, 0.0, 0.0])</answer>", "action": "('rotate', [-31.6, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 48.0, 0.0])</answer>", "action": "('rotate', [0.0, 48.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.03 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "2047915b2b103363a1ad15672ef57f00483eb60642fd8070b4aaeb0f62277450"}
+{"episode": 49147, "episode_seed": 725616911, "split": "train", "timestamp": "2025-10-24T09:30:27.116542", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_002457", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x746f8b8e9e10>", "max_steps": 20, "abs_size": 336, "master_seed": 2499, "max_long_side": 336, "image_quality": null, "interactor_type": "GroundtruthInteractor", "groundtruth_strategy": "pad3_by-axis", "groundtruth_kwargs": {}, "enable_reasoning": true, "reasoner_class": null}, "run_args": {"render": false, "seed": 725616911, "verbose": false, "save_verbose": false, "elicit_verbalization": true, "repeat_instructions": false, "include_env_feedback": true, "num_interaction_history": 0, "widget_log": false, "autosave_path": null, "save_history_at_episode_end": false}, "stats": {"step": 16, "reward": 1.0, "terminated": true, "truncated": false}, "history": [{"step": 0, "prompt": "You are solving a 3D mental rotation task. Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -104.2])</answer>", "action": "('rotate', [0.0, 0.0, -104.2])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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zD2vkfMYOOKCD1FfTlFHsfMPa+R8yo7KwZWKspyCDgg16p4O+If2l4tN1pwsxwsV0eA59H9D057969Goqo03F6MlzT6BRRRWxmFFFFABRRRQAUUUUAFFFFABRRRQBDc2lveReVcwRyp6OoOK5TU/AdvKWfTZfJY/8spCSv4HqP1rsaKiUIy3RUZOOxS0eGe20e0t7lQssUYjIBB6cDp7AVdooqkrKxLP/2Q==", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [57.5, 0.0, 0.0])</answer>", "action": "('rotate', [57.5, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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12KVztt5f3U3PAU9/wOD9M17HXgQ+Yds16z4K1f8AtPQ1ilbNxaYifPUr/Cfy4+oNdVCX2WYVY9T/2Q==", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, -109.4, 0.0])</answer>", "action": "('rotate', [0.0, -109.4, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.06 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "68899910cb85d553e0b4d52022ef3de8312bfd71398eba584d3b6ce53eba0378"}
+{"episode": 49148, "episode_seed": 143803314, "split": "train", "timestamp": "2025-10-24T09:30:36.192200", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_002457", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x746f8b8e9e10>", "max_steps": 20, "abs_size": 336, "master_seed": 2499, "max_long_side": 336, "image_quality": null, "interactor_type": "GroundtruthInteractor", "groundtruth_strategy": "pad3_by-axis", "groundtruth_kwargs": {}, "enable_reasoning": true, "reasoner_class": null}, "run_args": {"render": false, "seed": 143803314, "verbose": false, "save_verbose": false, "elicit_verbalization": true, "repeat_instructions": false, "include_env_feedback": true, "num_interaction_history": 0, "widget_log": false, "autosave_path": null, "save_history_at_episode_end": false}, "stats": {"step": 16, "reward": 1.0, "terminated": true, "truncated": false}, "history": [{"step": 0, "prompt": "You are solving a 3D mental rotation task. Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -12.7])</answer>", "action": "('rotate', [0.0, 0.0, -12.7])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [-83.7, 0.0, 0.0])</answer>", "action": "('rotate', [-83.7, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, -169.1, 0.0])</answer>", "action": "('rotate', [0.0, -169.1, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.01 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "d902c359ceccd6c4935d12ace590cfcc6c8894951851c94b5b7eceb08d3022a8"}
+{"episode": 49149, "episode_seed": 705553008, "split": "train", "timestamp": "2025-10-24T09:30:38.864016", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_002457", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x746f8b8e9e10>", "max_steps": 20, "abs_size": 336, "master_seed": 2499, "max_long_side": 336, "image_quality": null, "interactor_type": "GroundtruthInteractor", "groundtruth_strategy": "pad3_by-axis", "groundtruth_kwargs": {}, "enable_reasoning": true, "reasoner_class": null}, "run_args": {"render": false, "seed": 705553008, "verbose": false, "save_verbose": false, "elicit_verbalization": true, "repeat_instructions": false, "include_env_feedback": true, "num_interaction_history": 0, "widget_log": false, "autosave_path": null, "save_history_at_episode_end": false}, "stats": {"step": 16, "reward": 1.0, "terminated": true, "truncated": false}, "history": [{"step": 0, "prompt": "You are solving a 3D mental rotation task. Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, 95.9])</answer>", "action": "('rotate', [0.0, 0.0, 95.9])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [2.7, 0.0, 0.0])</answer>", "action": "('rotate', [2.7, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 127.0, 0.0])</answer>", "action": "('rotate', [0.0, 127.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.05 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "3bb6088ddf9f4c88d224ae1a7a80bf9dd364811ec93a530be723f37faee9af55"}
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Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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UdFUU7Ma10MTXJftV1cyF87WCIPp/9erE2f7MXHq+PyWsoyyXcSYgYZO5iR0JOTWjuL6VHzyRn8SBWtJXTIqaMbCXZ234zuGMV9Jab/yCrP8A64J/6CK+boz/AKVs/wB0/wCfyr6S0+PydNtYtxbZCi7j1OAOa3iZMs0UUVZIUUUUAFeS+NNMGi67PcoxkS+JuMHGQ3Rl+nQj6+1etVxHxRsbeXws2ovI6XFkwEJU8NvZVII79j68VnUV4lwep54LjdtYf6tsEHpgH/JpZkk3EiTC44yM1k6Ze/aA1tKuCgyrHkEdKuyXsUSbHkUMOOvWsnK6RVrMp3QYuCzZAOMD8qkt2CdM9cms66vwWBSORxnJ2rVZdV2sQ8QXHTce/wBKWoHVpJ2zzUUrL125I4H5isyHWbcRDc5yc5JGAKtLcQzEOrBto45qhE5UxxKp69+arSkHI9eKmlmVhwRVR2+egZ6D8K4C15qVxjhI0jBz1ySf6D869Nrzb4TK2NXbdlSYQF9D8+T+o/KvSa2jsZvcKKKKoQUUUUAcV8UyV8EzuFBKuOSM4G1vyr560UL9ruN7EKIGJx+Ar6K+KDAeAdQB/i2gf99Cvmm2kMc7EZwylT+laR2Je5Y1KVp7gqikrgDjHaq62ckgHyke5NWo1YnI4HvyasBNwwcn8ah003crmsQ21mQdjsr7vl54wT75q+NFtVBLqzccfMMmmIigY2r+VOf7uAT+BqlGKE5NkEmnwscRB1H+2Rn9Kdp1ncWkvnREK6HgORz+vNLbzCFy7hZ0U/MhfaT+XWtFdTgZgYrKADB4cFqnliwvJEV1qOp7GVtoB4PBFQWNwfs5hkbOH45+lWXujKu12yo7MBx7DjgVTuZg8ieXEq4YHjrRyRWwcze5pYxclgeuMfhn/Gvpe1Ia0hIOQY1OR34r5iE6lUb1OPzr6dtVCWkKgYARQPyqRktFFFMAooooAK5vxd4Qj8W28EUt/PbCAsyqigqWPGSD6DPfvXSUUmk9GNOx856v4C8S6Y5ebT53hU4823/eDr6Lk9u47ise3h3ZC3MjY4OcZH6V9SVzeu+BdB8QSyT3VqYruTG65t22Px+h/EGkoIOZnhkaKgxJNIw/2QP/AK1RvJFEWcJGSRjMx3H+gH5V3Wr/AAn1O0UyaTeLfpn/AFM2I3A7c52n9K4q/wBMv9ILDUdMuLQZwXkiOwn2boehpOA+YhMs90u1lSIDoQuc/wAqrNZ7QdzMx6hkwP0/+vRGYTISsgAH8KHFdDonhjVvEJP2C33RD70znag/Hv8Ahmo5WVc5Ob7RAwKSykfU/wBeK2dB0jxHr86xWFrJKpUnzpExGMer9OxFetaB8MNOskWXVyt7cEcxgny1PPToT1HX0rube3gtIEgtoY4YUGEjjUKqj2A4FUo9yW+xzXgjwpP4XsZxd3Uc9zcFWcRKQiYzwCeT1POB9K6miitErEhRRRQAUUUUAcN8W3KeALkL1aaNf1r57gt9vJ619eEBhggEdeaWqUrCsfJagL6VIGXHLfgK+sKKfMFj5OMiHjOPpTGY54bCn1r6uubS2vIvLureKeP+7KgYfka5m7+GvhO7eV/7LELyNuJgldAPooO0D2AqHcZ87rIFTbEgAHf1p6s5XHlc+xr3RvhD4ZLEq9+o9BMMD81p7fCXw0yBQb5SP4hPyf0xSA8HPmDqoA9zUTNng8Gve1+EXhkEEm+bHrOOfyFSR/CfwquN8FzJxj5pyPx4xTA8Bs5THeQqclTIvHryOK+tVUIiqOgGK5XS/hv4X0qdJ4tO82dHDpJPIzlSCCMDOOo9K6ugAooooAKKKKACiiigAooooAKQgMpVgCCMEHvS0UAZD+FfD8kqyNomn716MLdQf0HNayqqKFUBVAwABgAUtFABRRRQAUUUUAFFFFAH/9k=", 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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WaKKKskKKKKACvNPiwAH0dsDJ84Z/74r0uvNfiycHR/8Att/7JUy2GjzwLlcnp6U9Y32jaSfQd6YjcVMrgDNYljo58EqqkEcnPameftyCMAdOc1GZlWYbmABBJz36VmyalDHIw+Ziehxwfx/z1pDNCZ8j8aZFcfvdqqTjjI9fSsltRnPHkDZ67uf5VZtr2LAUkqenzVDEb0E0zuH2gKDwCetSvJvIypGD0NUrSZSgwwPJPBqaUkgOp5Hr3qLmiNnwfIqeOdJ3AfM0qgk4wfKf/wDV+Ne014f4PmUeOtGLHH72QevJhkH869wrqpfCZT3CiiitSAooooA4r4pkr4JncKCVcckZwNrflXz1ooX7Xcb2IUQMTj8BX0V8UGA8A6gD/FtA/wC+hXzTbSGOdiM4ZSp/StI7EvcsalK09wVRSVwBxjtVdbOSQD5SPcmrUasTkcD35NWAm4YOT+NQ6abuVzWIbazIOx2V93y88YJ981fGi2qgl1ZuOPmGTTERQMbV/KnP93AJ/A1SjFCcmyCTT4WOIg6j/bIz+lO06zuLSXzoiFdDwHI5/Xmlt5hC5dws6KfmQvtJ/LrWiupwMwMVlABg8OC1TyxYXkiK61HU9jK20A8HgioLG4P2cwyNnD8c/SrL3RlXa7ZUdmA49hxwKp3MweRPLiVcMDx1o5IrYOZvc0sYuSwPXGPwz/jX0vakNaQkHIManI78V8xCdSqN6nH519O2qhLSFQMAIoH5VIyWiiimAUUUUAFeY/GCG8W202+ht5JbaDzFldBkRltuC3oDjGen07+nU10WRGR1DIwwysMgj0NJq4Hy8moStzwF/wBkc/rVgCdxvNyAmOuMCvUfGHwxjubZ7rw0iW92uWa2JwkvspPCn9PpXiF7b6lFO0d7G0LRsY2jxgqw65B6Go5B3Olks7Qx+Y90JyoySkqgD8jS2+nG4hDOyqrcquMEj3Pf8K5aIiE/Kc/jWhbaxLZYIzLH/dPUfQ1SphzGxLo8UcZxM0Q745/n0/Cs5rARM2LfzQT94f8A1zWxaatbX64jbLY5Vuv60xpEXgE+Xjqeg/Gr9mhczMeMzRSHbII8dFUf41aXVZ0+WUKy+oGDWtY+EdZ1uTzdMsZWQgEyyDZGR7M2AfwzXeaJ8ILKOMSa9dPdzHGYbdjHEPUZ+831469O9c8qWpamcR4Rd9R8Z6Q9nBNOsNwrzmOMkRLgjcx6Ae9fQdVrDTrLS7RbWwtYraBekcSBRn146n3qzWkI8qsKTuFFFFWSFFFFAHDfFtyngC5C9WmjX9a+e4LfbyetfXhAYYIBHXmlqlKwrHyWoC+lSBlxy34CvrCinzBY+TjIh4zj6UxmOeGwp9a+rrm0tryLy7q3inj/ALsqBh+Rrmbv4a+E7t5X/ssQvI24mCV0A+ig7QPYCodxnzusgVNsSAAd/WnqzlceVz7GvdG+EPhksSr36j0EwwPzWnt8JfDTIFBvlI/iE/J/TFIDwc+YOqgD3NRM2eDwa97X4ReGQQSb5ses45/IVJH8J/Cq43wXMnGPmnI/HjFMDwGzlMd5CpyVMi8evI4r61VQiKo6AYrldL+G/hfSp0ni07zZ0cOkk8jOVIIIwM46j0rq6ACiiigAooooAKKKKACub8TeCdI8Txs1xF5N5j5bqIAPx03f3h04P4EV0lFAHzv4n+HmoaEXd4/Mtx925jHyk8YBH8P4/rXBzxSwuVk3q3ua+wZYo54nilRXjcbWVhkEVx8fww8OLrh1OSGWcA5S1mIaFT9MZI9iTVqXclo8K8M+CPEHiiXdpluY4BnN1OSkQPpuwcn2Ga9v8N/Dey061ifW2j1S9AIben7odOinrjHU+vSu2ihjgjEcMaRxr0VFAA/AU+k5NjsIAFUKoAAGAB2paKKkYUUUUAFFFFAH/9k=", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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WaKKKskKKKKACvNPiwAH0dsDJ84Z/74r0uvNfiycHR/8Att/7JUy2GjzwLlcnp6U9Y32jaSfQd6YjcVMrgDNYljo58EqqkEcnPameftyCMAdOc1GZlWYbmABBJz36VmyalDHIw+Ziehxwfx/z1pDNCZ8j8aZFcfvdqqTjjI9fSsltRnPHkDZ67uf5VZtr2LAUkqenzVDEb0E0zuH2gKDwCetSvJvIypGD0NUrSZSgwwPJPBqaUkgOp5Hr3qLmiNnwfIqeOdJ3AfM0qgk4wfKf/wDV+Ne014f4PmUeOtGLHH72QevJhkH869wrqpfCZT3CiiitSAooooA4r4pkr4JncKCVcckZwNrflXz1ooX7Xcb2IUQMTj8BX0V8UGA8A6gD/FtA/wC+hXzTbSGOdiM4ZSp/StI7EvcsalK09wVRSVwBxjtVdbOSQD5SPcmrUasTkcD35NWAm4YOT+NQ6abuVzWIbazIOx2V93y88YJ981fGi2qgl1ZuOPmGTTERQMbV/KnP93AJ/A1SjFCcmyCTT4WOIg6j/bIz+lO06zuLSXzoiFdDwHI5/Xmlt5hC5dws6KfmQvtJ/LrWiupwMwMVlABg8OC1TyxYXkiK61HU9jK20A8HgioLG4P2cwyNnD8c/SrL3RlXa7ZUdmA49hxwKp3MweRPLiVcMDx1o5IrYOZvc0sYuSwPXGPwz/jX0vakNaQkHIManI78V8xCdSqN6nH519O2qhLSFQMAIoH5VIyWiiimAUUUUAFeY/GCG8W202+ht5JbaDzFldBkRltuC3oDjGen07+nU10WRGR1DIwwysMgj0NJq4Hy8moStzwF/wBkc/rVgCdxvNyAmOuMCvUfGHwxjubZ7rw0iW92uWa2JwkvspPCn9PpXiF7b6lFO0d7G0LRsY2jxgqw65B6Go5B3Olks7Qx+Y90JyoySkqgD8jS2+nG4hDOyqrcquMEj3Pf8K5aIiE/Kc/jWhbaxLZYIzLH/dPUfQ1SphzGxLo8UcZxM0Q745/n0/Cs5rARM2LfzQT94f8A1zWxaatbX64jbLY5Vuv60xpEXgE+Xjqeg/Gr9mhczMeMzRSHbII8dFUf41aXVZ0+WUKy+oGDWtY+EdZ1uTzdMsZWQgEyyDZGR7M2AfwzXeaJ8ILKOMSa9dPdzHGYbdjHEPUZ+831469O9c8qWpamcR4Rd9R8Z6Q9nBNOsNwrzmOMkRLgjcx6Ae9fQdVrDTrLS7RbWwtYraBekcSBRn146n3qzWkI8qsKTuFFFFWSFFFFAHDfFtyngC5C9WmjX9a+e4LfbyetfXhAYYIBHXmlqlKwrHyWoC+lSBlxy34CvrCinzBY+TjIh4zj6UxmOeGwp9a+rrm0tryLy7q3inj/ALsqBh+Rrmbv4a+E7t5X/ssQvI24mCV0A+ig7QPYCodxnzusgVNsSAAd/WnqzlceVz7GvdG+EPhksSr36j0EwwPzWnt8JfDTIFBvlI/iE/J/TFIDwc+YOqgD3NRM2eDwa97X4ReGQQSb5ses45/IVJH8J/Cq43wXMnGPmnI/HjFMDwGzlMd5CpyVMi8evI4r61VQiKo6AYrldL+G/hfSp0ni07zZ0cOkk8jOVIIIwM46j0rq6ACiiigAooooAKKKKACub8TeCdI8Txs1xF5N5j5bqIAPx03f3h04P4EV0lFAHzv4n+HmoaEXd4/Mtx925jHyk8YBH8P4/rXBzxSwuVk3q3ua+wZYo54nilRXjcbWVhkEVx8fww8OLrh1OSGWcA5S1mIaFT9MZI9iTVqXclo8K8M+CPEHiiXdpluY4BnN1OSkQPpuwcn2Ga9v8N/Dey061ifW2j1S9AIben7odOinrjHU+vSu2ihjgjEcMaRxr0VFAA/AU+k5NjsIAFUKoAAGAB2paKKkYUUUUAFFFFAH/9k=", 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -89.6])</answer>", "action": "('rotate', [0.0, 0.0, -89.6])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [2.9, 0.0, 0.0])</answer>", "action": "('rotate', [2.9, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 51.0, 0.0])</answer>", "action": "('rotate', [0.0, 51.0, 0.0])", "reward": 0.0, "image": 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", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.05 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "644ba1d463094b3a747687e192646bcdaf41a83f9e853b88f67011249b759d1a"}
+{"episode": 49151, "episode_seed": 3510575474, "split": "train", "timestamp": "2025-10-24T09:30:44.332548", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_002457", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x746f8b8e9e10>", "max_steps": 20, "abs_size": 336, "master_seed": 2499, "max_long_side": 336, "image_quality": null, "interactor_type": "GroundtruthInteractor", "groundtruth_strategy": "pad3_by-axis", "groundtruth_kwargs": {}, "enable_reasoning": true, "reasoner_class": null}, "run_args": {"render": false, "seed": 3510575474, "verbose": false, "save_verbose": false, "elicit_verbalization": true, "repeat_instructions": false, "include_env_feedback": true, "num_interaction_history": 0, "widget_log": false, "autosave_path": null, "save_history_at_episode_end": false}, "stats": {"step": 16, "reward": 1.0, "terminated": true, "truncated": false}, "history": [{"step": 0, "prompt": "You are solving a 3D mental rotation task. Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, 144.5])</answer>", "action": "('rotate', [0.0, 0.0, 144.5])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [-63.7, 0.0, 0.0])</answer>", "action": "('rotate', [-63.7, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, -177.5, 0.0])</answer>", "action": "('rotate', [0.0, -177.5, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.04 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "7fc32b9f4c276417ecc98461357fab660513ded62555edb00df460ce90fa4b5c"}
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Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -108.7])</answer>", "action": "('rotate', [0.0, 0.0, -108.7])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [69.5, 0.0, 0.0])</answer>", "action": "('rotate', [69.5, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, -106.7, 0.0])</answer>", "action": "('rotate', [0.0, -106.7, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.04 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "ce14e0a6e6a592e51bf07a5ba2107b7c2b42e1de477926f5bdedb46cbd6fe0dc"}
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Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -28.3])</answer>", "action": "('rotate', [0.0, 0.0, -28.3])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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AsSP0NfNfhjRJ/Eviaw0mJWZZ5V85lGdkYPzN+AzX17DDHbwRwQoqRRqERFGAqgYAFXTXUxqvoPooorYxCiiigAooooAKKKKACiiigDy3xr8JRquo/wBq+HZbWyuCuJbV0KxytkksCM7Tz0xg47c1w8Xg3xobn7EnhwlYlJk3OipIO3z7hu5xxnsK+iqKylSi3ctVGj55fwV41vICY/DcY2ttIfyEPuRuI49/yq7pPwY1zULqGXWZrSwtc5kijbzJSODtGPlHcZ3HHoa95ooVKKG6kitp+nWWlWUdnp9rFbW0YwsUShVH5d/fvVmiitTMKKKKACiiigAooooAKKKKACiiigDE8R+EtF8VWoh1WzWRlH7udPllj+jdce3T2rzS9+AFo65stemRs9JoAwI/AivZqKlxT3KUmtj5v1T4JeLLK4VLA2t/CxPzpKIyvpuDY9umaksvgZ4puZx9ruLC1j5yxlLn8AB/UV9GUVPs0V7SRyfgnwBpfgq1Y25Nxfyrtnu3BBcZzgLkhR/kk11lFFWlYhu+4UUUUxBRRRQB/9k=", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [-61.1, 0.0, 0.0])</answer>", "action": "('rotate', [-61.1, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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1r6RrSC6mU30CiiitCAooooAKKKKACiiigAr5h+KuiXOj+Pr52H7m/b7TC46EN94fUMD+h719PV5r8YfCcut6FFqtlEZLzT8lkRSWeI4zjnt16HvUTV0VF6nztJrCxTpBLGwbgbuxrTOtJJIQ/mCTaPl6Z7ZrJvdOGoEMpwR6Dmo08PWslyq+fJGhjLN0JVs4xzWC5WjVSkjXi1lIszISsf3c4yMg4qlfa9sdNysXPAA4zVFvD8S2RkN0Q4k2hTgDG7Gfy5qBtMRZSY9zKO57mqUYjcpWNO0M2qXUUEC5kuJFXGOrE4A+nP8AnivsTRdOGkaHYaaGDi0t44dwGN21QM/jjNfPvwX8G3Gqa9FrM0bJp9g+8OcjzJR91R646n8B3r6QrSC6mU30CiiitCAooooAKKKKACiiigAooooA8t8a/CUarqP9q+HZbWyuCuJbV0KxytkksCM7Tz0xg47c1w8Xg3xobn7EnhwlYlJk3OipIO3z7hu5xxnsK+iqKylSi3ctVGj55fwV41vICY/DcY2ttIfyEPuRuI49/wAqu6T8GNc1C6hl1ma0sLXOZIo28yUjg7Rj5R3Gdxx6GveaKFSihupIrafp1lpVlHZ6faxW1tGMLFEoVR+Xf371ZoorUzCiiigAooooAKKKKACiiigAooooA8q8cfCh9S1Eat4b+y20xXE1ow2JI2Sd4I4B56Yxx+fBL4V8VG8SwHhO4Zo8tIWQBHx/01zg/QNzX0lRWUqUW7miqNHzg/hHxTqNqrReFZAqHHzxrEw69mIJ6dee3qK09G+DWuajeRyawLfTLQHMiI4kkYZ+6Ap2jgdc8ZHB6V75RQqUUDqMrafp1lpVlHZ6faxW1tGMLFEoVR/9f371ZoorUzCiiigAooooA//Z", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, -0.8, 0.0])</answer>", "action": "('rotate', [0.0, -0.8, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.05 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "2a4c83639327fca7a2c737c9c3ff806ec1df1fb9de9b3569ca6f08303329749c"}
+{"episode": 49154, "episode_seed": 1580961560, "split": "train", "timestamp": "2025-10-24T09:30:55.245454", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_002457", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x746f8b8e9e10>", "max_steps": 20, "abs_size": 336, "master_seed": 2499, "max_long_side": 336, "image_quality": null, "interactor_type": "GroundtruthInteractor", "groundtruth_strategy": "pad3_by-axis", "groundtruth_kwargs": {}, "enable_reasoning": true, "reasoner_class": null}, "run_args": {"render": false, "seed": 1580961560, "verbose": false, "save_verbose": false, "elicit_verbalization": true, "repeat_instructions": false, "include_env_feedback": true, "num_interaction_history": 0, "widget_log": false, "autosave_path": null, "save_history_at_episode_end": false}, "stats": {"step": 16, "reward": 1.0, "terminated": true, "truncated": false}, "history": [{"step": 0, "prompt": "You are solving a 3D mental rotation task. Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, 113.1])</answer>", "action": "('rotate', [0.0, 0.0, 113.1])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [35.2, 0.0, 0.0])</answer>", "action": "('rotate', [35.2, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 93.0, 0.0])</answer>", "action": "('rotate', [0.0, 93.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.04 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "bc7c601611addededa2a35d2554efcde2c9e4ba0258fa4e21f12718efc10e2c7"}
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Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, 58.1])</answer>", "action": "('rotate', [0.0, 0.0, 58.1])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [78.4, 0.0, 0.0])</answer>", "action": "('rotate', [78.4, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, -146.7, 0.0])</answer>", "action": "('rotate', [0.0, -146.7, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.05 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "aad045f4b23575279bf7d3cdeb475bbc9981c0a64543b979305529fdcef1265b"}
+{"episode": 49156, "episode_seed": 1542344832, "split": "train", "timestamp": "2025-10-24T09:32:18.135937", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_002457", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x746f8b8e9e10>", "max_steps": 20, "abs_size": 336, "master_seed": 2499, "max_long_side": 336, "image_quality": null, "interactor_type": "GroundtruthInteractor", "groundtruth_strategy": "pad3_by-axis", "groundtruth_kwargs": {}, "enable_reasoning": true, "reasoner_class": null}, "run_args": {"render": false, "seed": 1542344832, "verbose": false, "save_verbose": false, "elicit_verbalization": true, "repeat_instructions": false, "include_env_feedback": true, "num_interaction_history": 0, "widget_log": false, "autosave_path": null, "save_history_at_episode_end": false}, "stats": {"step": 16, "reward": 1.0, "terminated": true, "truncated": false}, "history": [{"step": 0, "prompt": "You are solving a 3D mental rotation task. Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, 148.5])</answer>", "action": "('rotate', [0.0, 0.0, 148.5])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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", 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", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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", 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ge/Na1ABRRRQAUUUUAFFFFABXi/jjUpo/E2u2Vqp23j2QNzG3MJi3E4AP3gSO/GDXs7MFUsxAAGST2r5+8R+NdGfxHqj2kc9zA8sbQyLhVO0/vRzzhv4T2qZSUd2a0qNSr8EWzS8J6np9pdTWGr6NE2lySGZZZ3851faF+6B1bGfbJFXPHuq6RqtlommaKmyNLkqY0hKKqsCD29yfzNdh4e0Lw94h0Cz1aLT54EuULrHJK2RyR6+1eVfES8tl1uXStK02VIbGXDymViZnxzj+6F5HvWblGC5mddOhXxM/YwVkt1q0tbX3Z6ra6J4wsrSG1ttWso4IUCRoEXCqBgD/AFdcxrmo+ItN8XafDealEZ442CThYwkfmFQckqB2Gcj6d67fwBC0PgLRQ5Yl7YS/NnIDksBz6A4rk7z4baxJrep31rfWSLe3Lz4fcSASSB09KcpOyaRFKhTdScZTStte6vrbon6l/wDtHW/+hz0P/v8Axf8AxFDalrYUkeMtEJA6CeLn/wAcrc/4QXRP7k//AH9NH/CC6J/cn/7+mtTiPNNF1Oe212Saymt7C5uyVluHECxgcZzjIA+UdByam8T+I7+dbjRdR1AahauEZntRG0b4IYYZQDkFRkcdPQ16L/wguif3J/8Av6aP+EF0T+5P/wB/TUKLSsn+B1SrU5TUpQurbcz/AD3+R53qOsT+E/Dl7on2qz1PTb6zmgh+y3Qle3lZWA467TkcfUjng+m+Df8AkS9G/wCvOP8A9BFeV+L9R8JWmpwadZTXHn2l7i+R1bCop+bBxyfpXsGhNp76FZHSpxPYeUBBIGzle349vX1qk09jCVOcdZKxoUUUUyAooooAKKKKACsrxLH5nh+6Xn+E8ezA/wBK1azPEFvLdaHcxQKGkIVgM46MCf0FAHlVtO32+3tMKClrG6sec/eB/Lj86TV57i3urQF8wTFoX2x5wzYKk8/7JH41JHatPcRSxztC8cKjKqCSCOnP0FStp6Sy7JrqeQrtfaXA6HI4HuKALuxv+er/AJD/AAqjqEO/TbsebIDjhgxBBGOeKvGWMHBdc9OtUL2eKGwdWY4d9uTlgSTxzzQB6rpCeXotinHFvGOBjPyirtRWy7LSFQSQEUc/SpaACiiigAooooAKKKKAI54VuLeWFyQsiFCR1wRiuKPwo8OEYZr0g9R5w5/8druaKiVOMviVzpoYuvQTVKbjfewyGGO3gjghQJFGoREUcKoGABWRc+EtAvLmS5uNKt5JpGLO5HLH1raoqnFPdGUKtSm7wk0/J2GRRRwQpDEgSONQqKowFA4AFPoopmYUUUUAFFFFAHnviT4T6fr+uz6rFdrbSXGDKjW4lBccbh8wxkY4ro/CHhkeE9GfTluhcIZmlUiLywuQBgDJ7gn8a36KzVKKlzJanZPHV6lFUJSvFeS6edr/AIhRRRWhxhRRRQAUUUUAFRzqXt5FUZJUgD8KkooA8vj8JeIGmkaOMRI6r/rHGQQMcYbp+FXY/AGpyENcahCpIwSigkfiVz+teh0UAcLafDW2gWQSalct5r73CkqCT14zj9K0o/AGhIctHLIcY3M4z+YANdRRQAUUUUAFFFFABRRRQB//2Q==", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [-15.7, 0.0, 0.0])</answer>", "action": "('rotate', [-15.7, 0.0, 0.0])", "reward": 0.0, "image": 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", 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", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 102.2, 0.0])</answer>", "action": "('rotate', [0.0, 102.2, 0.0])", "reward": 0.0, "image": 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", "info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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", 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", 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"info": {"env_feedback": "Stopped. Final angle error: 0.05 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "a2bdf7c31a35606de893c32c93800ac5ab7bb5489388c95f284c0b1ade387395"}
+{"episode": 49157, "episode_seed": 3055162197, "split": "train", "timestamp": "2025-10-24T09:32:23.254303", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_002457", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x746f8b8e9e10>", "max_steps": 20, "abs_size": 336, "master_seed": 2499, "max_long_side": 336, "image_quality": null, "interactor_type": "GroundtruthInteractor", "groundtruth_strategy": "pad3_by-axis", "groundtruth_kwargs": {}, "enable_reasoning": true, "reasoner_class": null}, "run_args": {"render": false, "seed": 3055162197, "verbose": false, "save_verbose": false, "elicit_verbalization": true, "repeat_instructions": false, "include_env_feedback": true, "num_interaction_history": 0, "widget_log": false, "autosave_path": null, "save_history_at_episode_end": false}, "stats": {"step": 16, "reward": 1.0, "terminated": true, "truncated": false}, "history": [{"step": 0, "prompt": "You are solving a 3D mental rotation task. Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -88.5])</answer>", "action": "('rotate', [0.0, 0.0, -88.5])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [-11.6, 0.0, 0.0])</answer>", "action": "('rotate', [-11.6, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 82.2, 0.0])</answer>", "action": "('rotate', [0.0, 82.2, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.04 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "4fdd9ca79d6015a4700659a99452824207c3b4cbeb0c0825f7ed8ccb966cec4f"}
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Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, 94.0])</answer>", "action": "('rotate', [0.0, 0.0, 94.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [-18.0, 0.0, 0.0])</answer>", "action": "('rotate', [-18.0, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 72.2, 0.0])</answer>", "action": "('rotate', [0.0, 72.2, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.07 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "f1c029c989f36699807cc64465c39d4f792b43fce660757860ef36f4b0e71a71"}
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Two panels are shown:\n- Left: the target view of the object (identity orientation).\n- Right: the current view that you can rotate.\nYour job is to rotate the object on the right so it matches the left.\n\nAvailable actions:\n1. 'rotate': Apply an incremental Euler rotation (yaw, pitch, roll). Format: `('rotate', [d_roll, d_yaw, d_pitch])` with angles in degrees.\n2. 'stop': Submit your final orientation. Format: `('stop', 'stop')`\n\nSuccess: You succeed if the final rotation error is less than or equal to 5.0\u00b0.\n\nNote: Rotations are applied in the world (extrinsic) axes\n\nFor example:\n- Roll by 15\u00b0: `('rotate', [15, 0, 0])`\n- To submit: `('stop', 'stop')`\n\nVerbalize your reasoning in <think>\u2026</think> and give the final result in <answer>\u2026</answer>.\nThis is step 1. You are allowed to take 19 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 1, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 2. You are allowed to take 18 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 2, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 3. You are allowed to take 17 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 3, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 4. You are allowed to take 16 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -90.0])</answer>", "action": "('rotate', [0.0, 0.0, -90.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 4, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 5. You are allowed to take 15 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 0.0, -3.7])</answer>", "action": "('rotate', [0.0, 0.0, -3.7])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 5, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 6. You are allowed to take 14 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 6, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 7. You are allowed to take 13 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 7, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 8. You are allowed to take 12 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 8, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 9. You are allowed to take 11 more steps.", "vlm_output": "<think></think><answer>('rotate', [90.0, 0.0, -0.0])</answer>", "action": "('rotate', [90.0, 0.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 9, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 10. You are allowed to take 10 more steps.", "vlm_output": "<think></think><answer>('rotate', [-56.6, 0.0, 0.0])</answer>", "action": "('rotate', [-56.6, 0.0, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 10, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 11. You are allowed to take 9 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 11, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 12. You are allowed to take 8 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 12, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 13. You are allowed to take 7 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 13, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 14. You are allowed to take 6 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, 90.0, -0.0])</answer>", "action": "('rotate', [0.0, 90.0, -0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 14, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 15. You are allowed to take 5 more steps.", "vlm_output": "<think></think><answer>('rotate', [0.0, -135.7, 0.0])</answer>", "action": "('rotate', [0.0, -135.7, 0.0])", "reward": 0.0, "image": 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"info": {"env_feedback": "Action executed successfully."}, "think": "<think></think>"}, {"step": 15, "prompt": "Environment feedback: Action executed successfully.\n\nThis is step 16. You are allowed to take 4 more steps.", "vlm_output": "<think></think><answer>('stop', 'stop')</answer>", "action": "('stop', 'stop')", "reward": 1.0, "image": 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"info": {"env_feedback": "Stopped. Final angle error: 0.08 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "6da687bd2bb6a04ad38cf947876185d71701d9e9f86a1f9f019af55e517876ab"}