diff --git "a/mental_rotation_3d_objaverse/train/batch_001081.jsonl" "b/mental_rotation_3d_objaverse/train/batch_001081.jsonl"
new file mode 100644--- /dev/null
+++ "b/mental_rotation_3d_objaverse/train/batch_001081.jsonl"
@@ -0,0 +1,20 @@
+{"episode": 21620, "episode_seed": 1350372936, "split": "train", "timestamp": "2025-10-24T07:33:35.643677", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_001081", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x7c0ab5b55a50>", "max_steps": 20, "abs_size": 336, "master_seed": 1123, "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": 1350372936, "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, -150.6])</answer>", "action": "('rotate', [0.0, 0.0, -150.6])", "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', [-33.8, 0.0, 0.0])</answer>", "action": "('rotate', [-33.8, 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, 58.3, 0.0])</answer>", "action": "('rotate', [0.0, 58.3, 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: 0.04 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "29c4f56a9cd181d72843d8db1e8b01c0692ec57319a62522561c9ca398802b83"}
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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, 51.3])</answer>", "action": "('rotate', [0.0, 0.0, 51.3])", "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', [-1.2, 0.0, 0.0])</answer>", "action": "('rotate', [-1.2, 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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KyEnoVND1Gj1Hw3rk2qwtE0JEcUY/eeprudOJa1ye7GvP/CN5Fc6evlKFATBUdq7/AEz/AI8l+poEvIuUUUUDCiiigAooooAKKKKAK19/qF/3hXC69oU+r3RnEkQhAAAcnP6Cu51DJtuBk7hWQ8Mr4zgAdAKAOKPhGbtLb9MdW9MentSReEpoZUkSS2DIcqctwfyrs/sr0fZX9B+dKwHOf2XqX/Pzb/8Aj3+FctqHw2v72+kuIbu1QSHcVw3B79q9QWOVeir+lSAz90U/jQlYDifB/hLUNAnk+03cEsTKQqJuyD+Ir0XShiyH+8az3QyD5kww6EGtLTgRbEEY+Y0wLdFFFABRRRQAUUUUAFFFFAFa+OLcf7wrjNb0aXVbgT+aixhcBXU+vb9K7K/UtbgKCfmHSsl7WZyMjgcAY6UAch/wi78Yni6Y+6fpTovCzxurrc26spyDsaus+xSf5zTxZkdUJP1/+tSsBzh0m9A/4/4D/wAAaudvvh7dXl288d5Eu85I8s9a9JWF1+6hH4//AFqXZPnhRj8aLAcb4X8LXWgzyeddxypIu0IFIIPrz9K77S8/Yxn+8apNDI4+ZMEdCM8Vf09StsQwwdxpgW6KKKACiiigD//Z", "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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5qoSclqjCvSjTlaLuWqKKKswCiiigAooooAKKKKAK19/qF/3hXC69oU+r3RnEkQhAAAcnP6Cu51DJtuBk7hWQ8Mr4zgAdAKAOKPhGbtLb9MdW9MentSReEpoZUkSS2DIcqctwfyrs/sr0fZX9B+dKwHOf2XqX/Pzb/wDj3+FctqHw2v72+kuIbu1QSHcVw3B79q9QWOVeir+lSAz90U/jQlYDifB/hLUNAnk+03cEsTKQqJuyD+Ir0XShiyH+8az3QyD5kww6EGtLTgRbEEY+Y0wLdFFFABRRRQAUUUUAFFFFAFPUubXHq4FQsoZORmrGoBjbDYuSGBxiqAluAP8AUNQBm6glsAd1oz/SuP1OOCT5IbCSNifvseK9C82f/n3ao54zcxmOW1ZlPas3BvY6qddR+JX+Z5bA8OJYZikZQEq5H3vaob7V2vbCCyQA7R5caIMAZ716JL4a0yZQr6Y2ASeHIP55pkHhXSrecTRaWwkXoS7HH60vZlvFa2W34nnMOitYa1ZJJyyzI2c9eRXt2mtutT/vmsG40W2unid7Rw8TBkYNg1v6dGY7YqQR8x61UU1uY1pwlZwVi3RRRVmAUUUUAf/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, -175.2, 0.0])</answer>", "action": "('rotate', [0.0, -175.2, 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: 0.06 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "3ba1105045e28809322790dd0b11edd645f630291bcb6d2ebe84cccc5eea8276"}
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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, -35.2])</answer>", "action": "('rotate', [0.0, 0.0, -35.2])", "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', [-13.5, 0.0, 0.0])</answer>", "action": "('rotate', [-13.5, 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, -63.7, 0.0])</answer>", "action": "('rotate', [0.0, -63.7, 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: 0.06 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "a8f0e3f0cf03b9c899c5c57bc7b91f37756ca872e0082e67d7a213454a1efb4d"}
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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, 24.6])</answer>", "action": "('rotate', [0.0, 0.0, 24.6])", "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', [9.4, 0.0, 0.0])</answer>", "action": "('rotate', [9.4, 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, -134.0, 0.0])</answer>", "action": "('rotate', [0.0, -134.0, 0.0])", "reward": 0.0, "image": 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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. 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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, -73.5])</answer>", "action": "('rotate', [0.0, 0.0, -73.5])", "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', [-11.1, 0.0, 0.0])</answer>", "action": "('rotate', [-11.1, 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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"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: 0.05 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "7e0197ed3fe530ab0ce248bc7b4b42a5d3399504993a0eabacc58744e75374d8"}
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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, -178.9])</answer>", "action": "('rotate', [0.0, 0.0, -178.9])", "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', [-6.5, 0.0, 0.0])</answer>", "action": "('rotate', [-6.5, 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, -119.9, 0.0])</answer>", "action": "('rotate', [0.0, -119.9, 0.0])", "reward": 0.0, "image": 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FSYncGGGXac4/DJ/CvcvGWqJo/g7Vb15EQpbOqFjwXYYUe/JHFeX/AAw1mPWvFdvGkLs1vbM7OWztONpP47gKiSu0aRlZNE3xQ8LjUfGCXSL5YltU3sMnewZhn8gB+A9a6b4T6e+laJfWhCFBc71cDliVGQfpgfmao/FTXbPSb/TI5IpGmkikZimPuAjA5981sfC/VF1bw3czpCYwt4y/eBz8q+nTtSSfNcHK8bHbUUUVoZhRRRQAUUUUAFFFFABRRRQAUUUUAZPii3F34T1eApvL2cwC4zzsOMe+cV4N4G0HU7D4gaTNLFtRJj828YYFSDj8MmvdPGGorpXg7V71nRDHauFLkAbiML19yOO/SvLfhjrcWseLLaJYmLQW7OXL9Dggn361Eldo0jKyaJ/ih4YGo+MEukXyxLapvYZO5gzDP5AD8B6103wn099K0S+tCEKC53q4HLEqM5+mB+Zqj8VNds9Jv9MjkikaaSORmKY+4CMDn3zWv8LtWTV/Dl1OkJjCXjIckcnYh/kR/nokveuDleNjt6KKK0MwooooAKKKKACiiigAooooAKKKKAPMPjTY6nqGkaZDYwzzwCd2mihiZ8sFGwnHp8351V+DHhS40pNQ1a9tJIJJgsEIlQo20Hc5wexO3H+6a9ZooA8l+OunTzaTpGoxgmO2mkicAdPMAIJPYfIR+Irl/gxrs2meKZNKl3G31FcAZzskUEg/iMj8R6V7d4i0K28SaFc6XdHaso+WQDJjYHIYfQ/mMjvWF4U+HGkeFbsX0Mk9ze7WXzZSAADjooHHAx+JoA7GiiigAooooAKKKKACiiigAooooAKKKKAPMPjVZ6jfaNpkVnDPNALhmljijLZbGEJwPdvzqr8GPCl1pQ1DV721kt3mUQQrLGUcrncxwe2dvbsa9ZooA8l+OunTzaVpGoxgmO2mkicAdPMCkE+g+Qj8RXLfBjXZ9M8VvpUpJtdRXG3rskUEq34jcPxHpXt/iLQrbxJoVzpd0dqSj5ZAMmNgchh9D+YyO9YXhT4caR4VuxfQyT3N7tZfNlIAAPooHHAx+JoA7GiiigAooooAKKKKAP/Z", "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": "e28f5a9d1e62b74c2391b5d49216ba519b292fb0186599f64a864f7a0a44f604"}
+{"episode": 21626, "episode_seed": 243882074, "split": "train", "timestamp": "2025-10-24T07:35:23.197649", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_001081", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x7c0ab5b55a50>", "max_steps": 20, "abs_size": 336, "master_seed": 1123, "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": 243882074, "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, 7.8])</answer>", "action": "('rotate', [0.0, 0.0, 7.8])", "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', [45.1, 0.0, 0.0])</answer>", "action": "('rotate', [45.1, 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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"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, 49.1, 0.0])</answer>", "action": "('rotate', [0.0, 49.1, 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: 0.05 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "3b5acce0be4c3a1027044e79206fc2c2fb1f63aff36b7450f6e5d813690a0c44"}
+{"episode": 21627, "episode_seed": 1406118040, "split": "train", "timestamp": "2025-10-24T07:35:25.407022", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_001081", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x7c0ab5b55a50>", "max_steps": 20, "abs_size": 336, "master_seed": 1123, "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": 1406118040, "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, -96.8])</answer>", "action": "('rotate', [0.0, 0.0, -96.8])", "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', [-7.2, 0.0, 0.0])</answer>", "action": "('rotate', [-7.2, 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, 39.5, 0.0])</answer>", "action": "('rotate', [0.0, 39.5, 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: 0.02 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "1df035c86a75abda81da1648e876a2124a2de4c004b53547dedb8dd32d07c605"}
+{"episode": 21628, "episode_seed": 2741954446, "split": "train", "timestamp": "2025-10-24T07:35:29.675287", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_001081", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x7c0ab5b55a50>", "max_steps": 20, "abs_size": 336, "master_seed": 1123, "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": 2741954446, "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, -96.2])</answer>", "action": "('rotate', [0.0, 0.0, -96.2])", "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', [47.7, 0.0, 0.0])</answer>", "action": "('rotate', [47.7, 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, -95.1, 0.0])</answer>", "action": "('rotate', [0.0, -95.1, 0.0])", "reward": 0.0, "image": 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O/hz44XUoI9F1KU/boxiCVjnzlA6E/wB4fqK9ErdO5i1YKKK89+IvjCWwt30fSvMN3IMTTRg/uV9Af7x/Qe/QbsCVzD+JPjcXjvoely5t1OLqVTxIf7oPoO/qeOg58zqX7Lcf88Jf++DR9luP+eEv/fBrFts2SsRU+KaSEkxtgkYPFO+y3H/PCX/vg0x43jOHRlJ5wwxSGSNdzupVnyCOeBTjfXRsRZG4l+yh94h3HaG9cVXoouwsFFFFIAooooAK9M+GvjUWbjQ9Unxbuf8ARZXPEZ/uE+h7eh+vHmdFNOwmrn1VRXnfw58cLqcEei6lKft0YxDKxz5ygdCf7w/UV6JW6dzFqx//2Q==", "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": "3e1c6e1dba7bae5c87c6bdda74abf2cdd1468120bf82bc1e5c12e208667c44b6"}
+{"episode": 21629, "episode_seed": 1527517011, "split": "train", "timestamp": "2025-10-24T07:35:31.487683", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_001081", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x7c0ab5b55a50>", "max_steps": 20, "abs_size": 336, "master_seed": 1123, "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": 1527517011, "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, -90.2])</answer>", "action": "('rotate', [0.0, 0.0, -90.2])", "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', [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, 172.9, 0.0])</answer>", "action": "('rotate', [0.0, 172.9, 0.0])", "reward": 0.0, "image": 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eeEdukvYW7PEjT+dlxuA4xiq0ei6pGgTzbMhRgfer0Gimm1sJxT3OHtdJ1FbmN3kttquGIRWJIzWxY+Ho4ruW5O/fJIZDvPQn0H+NdBRQ23uJRS2GoixoFUYAp1FFIo4zXITDq0uej4cfj/8AXzWdXX65pzXtsJIlzNFkgf3h3FceeDz1rpg7o46kbSCiig1ZmJRRTo42mlSNBlmIAHvQB1HhiDy7GSY9ZXwPoP8A65NblQ2sAtbSKAHIRQM+tTVySd3c7oqysFUNR0q31GFkljVw3VWHB/wPvV+ikUcPeeEgulSWFszxIZ/Oy43AfLjAPp0qtHouqRoE82zIUYH3q9BopptbCcU9zh7XSNRFxG7yW+1WBIRWJIzWvY+Ho4ruW5O/fJIZDvPQn0H+NdDRQ5N7iUUthqIsaBVGAKdRRSKOM1yEw6tLno+HH4//AF81nV1+uac17bCSJczRZIH94dxXHng89a6YO6OOpG0goooNWZiUUU6ONppUjQZZiAB70AdR4Yg8uxkmPWV8D6D/AOuTW5UNrALW0igByEUDPrU1cknd3O6KsrBRRRSKCiiigAooooAKKKKACsXVNBS6JmtsRy9SvZv8DW1RTTa2JlFSVmefTwS20hSaNkb0IqKvQpoIrhNk0auvowzWZL4bsZCSvmx57K3H61sqi6mDovochXReHdNbcL6UYGCIwe/vV+28P2Nu4cq8rDp5hyPyFaoGBgVMql1ZFQpWd2FFFFZG4UUUUAFFFFABRRRQAUUUUAFYuqaCl0TNbYjl6lezf4Gtqimm1sTKKkrM8+ngltpCk0bI3oRUVehSwRTptmjSRfRhmsyXw5YyElfMj9lbj9a2VRdTB0X0OQrovDumtvF9KMDBEYPf3rQtvD9jbuHKtKw5HmHI/KtQDAwKmVS6sioUrO7CiiisjcKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKACiiigAooooAKKKKAP/9k=", "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": "603f5c55294e9b8a3f8199d7f4c7b40e93b105d1bf95f6d5d5744a0b5a7ea7fd"}
+{"episode": 21630, "episode_seed": 402720165, "split": "train", "timestamp": "2025-10-24T07:37:23.112929", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_001081", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x7c0ab5b55a50>", "max_steps": 20, "abs_size": 336, "master_seed": 1123, "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": 402720165, "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, 81.4])</answer>", "action": "('rotate', [0.0, 0.0, 81.4])", "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', [-52.5, 0.0, 0.0])</answer>", "action": "('rotate', [-52.5, 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, -125.2, 0.0])</answer>", "action": "('rotate', [0.0, -125.2, 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": "d22213ed8f39f39196d3dded2bcda6fce1c8d0ce55f7a9340c72dcc38b5089d4"}
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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, -119.9])</answer>", "action": "('rotate', [0.0, 0.0, -119.9])", "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', [7.2, 0.0, 0.0])</answer>", "action": "('rotate', [7.2, 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, 13.0, 0.0])</answer>", "action": "('rotate', [0.0, 13.0, 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": "8bf383899884fb473fda684ce55506f2995a2e6c35fb0a85e4e725369fefeac2"}
+{"episode": 21632, "episode_seed": 2212962709, "split": "train", "timestamp": "2025-10-24T07:37:39.334220", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_001081", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x7c0ab5b55a50>", "max_steps": 20, "abs_size": 336, "master_seed": 1123, "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": 2212962709, "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, 81.5])</answer>", "action": "('rotate', [0.0, 0.0, 81.5])", "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', [54.6, 0.0, 0.0])</answer>", "action": "('rotate', [54.6, 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, 69.4, 0.0])</answer>", "action": "('rotate', [0.0, 69.4, 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: 0.07 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "740205f6574afe8ff36d5245926e38eaee72b7d9d5b1d9109b3ecfa210ad4c78"}
+{"episode": 21633, "episode_seed": 2403839970, "split": "train", "timestamp": "2025-10-24T07:37:42.533891", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_001081", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x7c0ab5b55a50>", "max_steps": 20, "abs_size": 336, "master_seed": 1123, "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": 2403839970, "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, 95.5])</answer>", "action": "('rotate', [0.0, 0.0, 95.5])", "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', [71.3, 0.0, 0.0])</answer>", "action": "('rotate', [71.3, 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, 96.0, 0.0])</answer>", "action": "('rotate', [0.0, 96.0, 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: 0.07 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "75e8bdaad5395bb52c246d41d6aecb35f79eba6c358bd8b74beabe71327c62f5"}
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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, -132.4])</answer>", "action": "('rotate', [0.0, 0.0, -132.4])", "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', [19.1, 0.0, 0.0])</answer>", "action": "('rotate', [19.1, 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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"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, 122.5, 0.0])</answer>", "action": "('rotate', [0.0, 122.5, 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: 0.02 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "94a8daa3d7a6f0e69c1b4e6adf61bd5b54c6a171796aaf35f052dc1fa260df6f"}
+{"episode": 21635, "episode_seed": 3649787595, "split": "train", "timestamp": "2025-10-24T07:37:58.179044", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_001081", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x7c0ab5b55a50>", "max_steps": 20, "abs_size": 336, "master_seed": 1123, "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": 3649787595, "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, -167.7])</answer>", "action": "('rotate', [0.0, 0.0, -167.7])", "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', [-33.5, 0.0, 0.0])</answer>", "action": "('rotate', [-33.5, 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, 93.6, 0.0])</answer>", "action": "('rotate', [0.0, 93.6, 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: 0.06 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "6e7fbdb5f94baa44e56a461a25583325f7790714f6819b7f55dcb9139ace5d5b"}
+{"episode": 21636, "episode_seed": 1518943244, "split": "train", "timestamp": "2025-10-24T07:38:00.441229", "batch_dir": "/home/zwcolin/projects/VLM_Gym_Episodes_v6/mental_rotation_3d_objaverse_pad3_by_axis/shards_20251024_060424/train/batch_001081", "init_args": {"env_repr": "<OrderEnforcing<MentalRotation3DObjaverseEnv<mental_rotation-3d_objaverse-v0>>>", "vlm_repr": "<gymnasium.vlm.groundtruth_interactor.MockVLM object at 0x7c0ab5b55a50>", "max_steps": 20, "abs_size": 336, "master_seed": 1123, "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": 1518943244, "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, 18.9])</answer>", "action": "('rotate', [0.0, 0.0, 18.9])", "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', [-7.0, 0.0, 0.0])</answer>", "action": "('rotate', [-7.0, 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, -148.7, 0.0])</answer>", "action": "('rotate', [0.0, -148.7, 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: 0.06 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "bcbaa7fe4cd729a272f411ddb66565a6de69bccab663d75fd5d5b2924f432fd9"}
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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, -86.6])</answer>", "action": "('rotate', [0.0, 0.0, -86.6])", "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', [-62.5, 0.0, 0.0])</answer>", "action": "('rotate', [-62.5, 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, 91.9, 0.0])</answer>", "action": "('rotate', [0.0, 91.9, 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: 0.02 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "1c45d2200a6565f12acba8b145ad427e56c4bf8e15bb44e047279218e54a6d3b"}
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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, -116.7])</answer>", "action": "('rotate', [0.0, 0.0, -116.7])", "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', [-52.0, 0.0, 0.0])</answer>", "action": "('rotate', [-52.0, 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, 143.2, 0.0])</answer>", "action": "('rotate', [0.0, 143.2, 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: 0.03 degrees."}, "think": "<think></think>"}], "extra_state": null, "hash": "eea063aa64c1457bcec646885024a6c379979ba3c4a294809be9e582edec8800"}
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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, 98.7])</answer>", "action": "('rotate', [0.0, 0.0, 98.7])", "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', [31.0, 0.0, 0.0])</answer>", "action": "('rotate', [31.0, 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, -4.4, 0.0])</answer>", "action": "('rotate', [0.0, -4.4, 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": "9478890e6188a30fe1ce63e4a027aeb9f68ee0a34944e79bc5ca149a91240c9e"}