diff --git a/CHANGELOG.md b/CHANGELOG.md index e0933ab..1d70804 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -242,6 +242,17 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 from one run into the next. Thanks to [@Bayway](https://github.com/Bayway) (#7), whose runs and whose transcripts these are. +- **Two transcripts from Qwen3-32B-AWQ on vLLM, and the first numbers anybody has for what + `--extra-body` actually stops.** Same build, same seed, same server, one variable: with the + flag off, all eight LLM calls deliberate in the open and the run spends 2,049 output tokens + over four steps; with it on, none of the five do and the run spends 263 over three. Neither + needed the JSON text fallback. The totals flatter it, because the two runs took different + paths — the thinking one spent two steps on `remember` and `quack` — so the per-call figures + are the ones to read: 165 to 402 output tokens a call becomes 19 to 130. `reasoning_tokens` + stays 0 in both, which is a property of a server running without `--reasoning-parser` rather + than evidence of a model that did not reason: the thinking sits in `content` and is billed as + output. The machine is an `aarch64` NVIDIA GB10, which nothing here had run on before. + ### Changed - **The README and the social card wear the duck head quackd.org uses, and `logo.svg` is diff --git a/README.md b/README.md index b9ce88f..3ffa521 100644 --- a/README.md +++ b/README.md @@ -217,7 +217,7 @@ Version 0.8, simulator and mocks. What has been built, and how far each piece ha | MCP server (`quackd serve-mcp`) | ✅ Claude Code and Claude Desktop, one robot or a flock with `--robots` or `--flock NAME` (nine `robot_*` tools, tested in process against the simulator and the mocks), no Claude Desktop session on record | | Memory between runs (`quackd memory`, `remember`) | ✅ one JSONL file per `adapter:backend`, or per registered robot name, notes and run outcomes into the next prompt, tested end to end offline, 🧪 the `remember` tool itself exercised by one local model on one machine and by no cloud model ([docs/memory.md](docs/memory.md)) | | Providers: eleven cloud vendors, fake | ✅ implemented, tested offline against stubbed SDK clients, with one hand curated catalogue of 115 model ids that `--model` is checked against before any call (`quackd list-models`), real model hero recording pending an API key | -| Local models (Ollama, vLLM, llama.cpp, LM Studio, any OpenAI compatible server) | ✅ implemented and tested against the OpenAI wire format, 🧪 two live runs by a contributor (Qwen 2.5 Coder 14B on LM Studio, seeds 5 and 6), never on this machine, transcripts in [`docs/assets/transcripts/`](docs/assets/transcripts/), more welcome | +| Local models (Ollama, vLLM, llama.cpp, LM Studio, any OpenAI compatible server) | ✅ implemented and tested against the OpenAI wire format, 🧪 four live runs by contributors (Qwen 2.5 Coder 14B on LM Studio, seeds 5 and 6, and Qwen3-32B-AWQ on vLLM on an `aarch64` NVIDIA GB10, seed 1, with and without thinking), never on this machine, transcripts in [`docs/assets/transcripts/`](docs/assets/transcripts/), more welcome | | Registered robots and flocks (`quackd robot`, `quackd flock`) | ✅ both command groups over `~/.quackd/robots.json` and `~/.quackd/flocks.json`, so `--robot NAME` means the same thing in every command that takes a robot and `--flock NAME` in `run` and `serve-mcp`, tested offline, `robot list --probe` answered by the mocks, 🧪 never pointed at hardware ([docs/registry.md](docs/registry.md)) | | Pilot flocks, several robots on one task (`--flock NAME`) | ✅ one whole pilot per body, any backend, same or different bodies, 2 to 8, each with its own executor, allowlist, budget, heartbeat, memory and verdict, dividing the work with `tell` over the bus, 🧪 experimental, exercised on mock and sim2d bodies with the scripted pilot, by no real model and on no hardware | | Coordinator flock, one referee instead (`--flock N`) | ✅ deterministic auction and bus, one planner LLM call at most, ground truth checked in tests, 🧪 experimental and sim2d Microducks only. Its capability aware role auction (spotter/kicker) is unit tested but has no bundled two-robot demo today | @@ -632,7 +632,7 @@ The physics simulator costs what physics costs. Measured here on one Windows lap - `grab` is open loop upstream and unreliable here on purpose. `fetch` says so in its file. - A manifest can be smaller than the robot. The LeRobot arm's `real` backend claims no camera and no `pick` until it connects, and even then `pick` appears only when a policy object was injected in code. A rosbridge base over `ws` has no camera verbs unless the address names an image topic, and a ToddlerBot has no `move` unless a walk checkpoint is staged. - The model catalogue is hand curated. It was read off the eleven vendors' own documentation on 2026-09-12 and it is a snapshot of that day, not a live list. A vendor can retire, rename or add an id between quackd releases, and this build would then refuse an id that is real and offer one that is gone. `quackd list-models` prints exactly what this build knows, which is the only thing `--model` accepts for a cloud vendor. -- Local model quality is unmeasured. The JSON text fallback and the one retry exist because small models often miss native tool calls. One contributor ran `find-and-kick` against Qwen 2.5 Coder 14B through LM Studio on two seeds, both successes, one of them reading an earlier run's memory. The two transcripts are in [`docs/assets/transcripts/`](docs/assets/transcripts/) and read in [docs/local-llms.md](docs/local-llms.md). +- Local model quality is unmeasured. The JSON text fallback and the one retry exist because small models often miss native tool calls. One contributor ran `find-and-kick` against Qwen 2.5 Coder 14B through LM Studio on two seeds, both successes, one of them reading an earlier run's memory. Another ran it twice against Qwen3-32B-AWQ on vLLM on an `aarch64` NVIDIA GB10, same seed and same build, differing only in whether `--extra-body` turned the model's thinking off: 2,049 output tokens became 263, and neither run needed the text fallback. The four transcripts are in [`docs/assets/transcripts/`](docs/assets/transcripts/) and read in [docs/local-llms.md](docs/local-llms.md). - The pilot flock takes any body and has run on `mock` and `sim2d` ones only: N simulated members are N separate worlds with no shared arena, it costs one budget and one model call per member per turn, and `tell` has been exercised by the scripted pilot and by no real model. The coordinator flock is simulator only, ships one choreography and exactly two roles (spotter and kicker, unit tested but with no bundled multi-role starter), and knows only the Microduck. Separation uses sim ground truth, and two robots share no frame of reference on hardware. - LAN discovery and the MQTT bus have each been exercised once, on one machine. Nothing has crossed to a second machine, the MQTT bus is a library with no `--bus` flag, and a coordinator flock across machines also needs a clock across machines, which does not exist yet. A pilot flock needs no such clock and has simply never been tried across two. diff --git a/docs/assets/transcripts/qwen3-32b-awq-vllm-find-and-kick-seed1-thinking-off.jsonl b/docs/assets/transcripts/qwen3-32b-awq-vllm-find-and-kick-seed1-thinking-off.jsonl new file mode 100644 index 0000000..a40db1e --- /dev/null +++ b/docs/assets/transcripts/qwen3-32b-awq-vllm-find-and-kick-seed1-thinking-off.jsonl @@ -0,0 +1,134 @@ +{"t": 0.015, "kind": "run_start", "duck": "find-and-kick", "duck_path": "ducks/find-and-kick.duck", "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "extra_body": {"chat_template_kwargs": {"enable_thinking": false}}, "transport": "sim2d", "adapter": "microduck", "robot": {"manifest": 1, "id": "microduck", "vendor": "pollen-robotics", "model": "microduck", "embodiment": "biped", "mobility": "legged", "intents": ["twist", "skill", "gaze", "sound", "pose"], "sensors": ["camera", "battery", "odometry", "imu", "tof"], "verbs": [{"name": "report_state", "core": true, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "stop", "core": true, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "say", "core": true, "description": "", "params_schema": {"additionalProperties": false, "properties": {"text": {"description": "What to say.", "maxLength": 200, "minLength": 1, "title": "Text", "type": "string"}}, "required": ["text"], "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "move", "core": true, "description": "Walk with a velocity for a duration. Use small values; the robot is 25 cm tall.", "params_schema": {"additionalProperties": false, "properties": {"vx": {"default": 0.15, "description": "Forward m/s (negative = back).", "maximum": 0.3, "minimum": -0.3, "title": "Vx", "type": "number"}, "vy": {"default": 0.0, "description": "Left m/s (negative = right).", "maximum": 0.2, "minimum": -0.2, "title": "Vy", "type": "number"}, "wz": {"default": 0.0, "description": "Turn rate rad/s (+ = left).", "maximum": 1.5, "minimum": -1.5, "title": "Wz", "type": "number"}, "duration_s": {"default": 1.0, "description": "How long to hold this velocity.", "exclusiveMinimum": 0, "maximum": 10, "title": "Duration S", "type": "number"}}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "observe", "core": true, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "go_to", "core": true, "description": "Walk toward a detected target and stop at a distance. Closes the loop on the camera itself.", "params_schema": {"additionalProperties": false, "properties": {"target": {"default": "ball", "description": "Label to approach.", "title": "Target", "type": "string"}, "stop_distance": {"default": 0.25, "description": "Stop this far away (m).", "maximum": 1.5, "minimum": 0.1, "title": "Stop Distance", "type": "number"}, "timeout_s": {"default": 20.0, "exclusiveMinimum": 0, "maximum": 60, "title": "Timeout S", "type": "number"}}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "search_scan", "core": true, "description": "Rotate in steps, looking for a target. Returns where it was seen.", "params_schema": {"additionalProperties": false, "properties": {"target": {"default": "ball", "description": "Label to look for (e.g. ball, person).", "title": "Target", "type": "string"}, "step_deg": {"default": 45.0, "description": "Rotation per step.", "maximum": 120, "minimum": 15, "title": "Step Deg", "type": "number"}, "max_steps": {"default": 8, "description": "Steps before giving up (8 x 45° = full turn).", "maximum": 16, "minimum": 1, "title": "Max Steps", "type": "integer"}}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "approach_and", "core": true, "description": "walk_to a target, then run another verb (kick, grab).", "params_schema": {"additionalProperties": false, "properties": {"target": {"default": "ball", "title": "Target", "type": "string"}, "stop_distance": {"default": 0.25, "maximum": 1.5, "minimum": 0.1, "title": "Stop Distance", "type": "number"}, "then": {"description": "Verb to run once close (e.g. kick, grab).", "title": "Then", "type": "string"}}, "required": ["then"], "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "sit", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "stand", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "kick", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {"leg": {"default": "right", "description": "Which leg kicks.", "enum": ["left", "right"], "title": "Leg", "type": "string"}}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "grab", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "stand_up", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "quack", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {"text": {"anyOf": [{"maxLength": 200, "type": "string"}, {"type": "null"}], "default": null, "description": "What to say. The robot only has duck sounds; text is mapped to a tone.", "title": "Text"}}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "gaze", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {"direction": {"default": "center", "description": "Where to point the head.", "enum": ["center", "left", "right", "up", "down"], "title": "Direction", "type": "string"}, "bearing_deg": {"anyOf": [{"maximum": 90, "minimum": -90, "type": "number"}, {"type": "null"}], "default": null, "description": "Optional exact bearing (+ = left). Overrides direction.", "title": "Bearing Deg"}}, "type": "object"}, "safety_class": "safe", "timeout_s": null}], "preconditions": {"move": ["standing"], "kick": ["standing"], "grab": ["standing"], "sit": ["not_fallen"], "stand": ["not_fallen"], "gaze": ["not_fallen"]}, "safety_authority": {"native": "robotd_deadman", "deadman": true, "heartbeat_hz": 2.0}, "frame": {"reference": "body", "note": ""}, "limits": {"max_vx": 0.3, "max_vy": 0.2, "max_wz": 1.5}, "backend": "sim2d", "blurb": "a small biped duck robot (25 cm, 800 g)", "datasheet": {"mass_kg": {"value": 0.8, "confidence": "official", "source": "the Pollen Robotics README", "note": ""}, "height_m": {"value": 0.25, "confidence": "official", "source": "the Pollen Robotics README", "note": ""}, "dof": {"value": 15.0, "confidence": "official", "source": "the Pollen Robotics README", "note": "XL330 class servos, which is an estimate"}, "payload_kg": null, "reach_m": null, "workspace_height_m": null, "endurance_min": null, "manipulator": "beak", "arms": 0, "tethered": false, "terrain": "indoor_flat", "not_rated": ["stairs", "steps", "slopes"], "cannot": ["carry, hold or push anything: the beak scoops at the floor and nothing else", "climb or descend a step", "hold a heading for long without a landmark: the IMU has no magnetometer, so heading drifts"], "notes": ["The speed caps are a software clamp in robotd, not a measured hardware maximum", "The time-of-flight sensor is an 8 by 8 grid good from 0.12 to 3.54 m", "It falls, and it can get itself upright again"]}, "extras": {}}, "dry_run": false, "contract": {"duck": 0, "name": "find-and-kick", "description": "Search the area for a ball, walk to it, kick it.", "author": "rok", "verbs": {"allow": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"], "confirm": []}, "budgets": {"max_steps": 40, "max_minutes": 5.0, "max_llm_calls": 40}, "success": ["Ball displaced more than 0.3 m in sim, or human confirms the kick landed."], "abort_when": ["Battery below 15%", "Same verb fails 3 times in a row"], "persona": "Determined and cheerful. Quack once when you succeed.", "providers": ["fake", "anthropic", "openai", "gemini", "grok"], "learned_verbs": [], "flock": null, "requires": [], "datasheet": null, "robots": null}, "system_prompt": "You are the brain of a small biped duck robot (25 cm, 800 g). You are a high-level pilot:\nyou choose ONE verb per turn; the robot's own controllers handle balance and gait, and composite\nverbs like `walk_to` close their own loops on the camera. Do not micro-manage.\n\n## Rules (enforced by the executor — not optional)\n- Call exactly one tool per turn. Never zero, never two.\n- Only these verbs are allowed: search_scan, walk_to, kick, quack, get_frame, stop. Anything else is refused.\n- Budgets: 40 steps, 5 minutes, 40 LLM calls. The run stops when any is hit.\n- Verbs marked confirm (none) ask a human before running.\n- Before the first verb that moves the body, call `assess_task` with your verdict on whether this body can do this task at all, judged against its datasheet below: `feasible`, `infeasible` (the run ends, nothing moves) or `uncertain` (a human is asked). Until then only `observe`, `report_state`, `say`, the head verbs and `stop` run. Assess again later if what you see changes your mind.\n- When a success criterion is met, call `declare_success`. If the task turns out impossible while doing it, call `declare_failure`.\n\n## Success criteria\n- Ball displaced more than 0.3 m in sim, or human confirms the kick landed.\n\n## Abort conditions you must respect yourself\n- (none beyond the enforced ones)\n\n## Verbs\n- `search_scan`: Rotate in steps, looking for a target. Returns where it was seen.\n- `walk_to`: Walk toward a detected target and stop at a distance. Closes the loop on the camera itself.\n- `kick`: Kick forward with one leg. Only connects if the ball is < 0.3 m away and roughly ahead.\n- `quack`: Make a duck sound, optionally with text (mapped to a tone).\n- `get_frame`: Capture a camera frame and report what is detected in it.\n- `stop`: Stop moving immediately (zero velocity). Always allowed.\n\n## Your body: what it can and cannot do\nEach number says how sure quackd is of it and who says so (official: the maker or a paper says so; estimate: one vendor, a community number or a reading off a photo; measured: somebody measured it and said how).\n- Mass: 0.8 kg (official: the Pollen Robotics README)\n- Height: 0.25 m (official: the Pollen Robotics README)\n- Actuated joints: 15 (official: the Pollen Robotics README; XL330 class servos, which is an estimate)\n- Manipulator: a beak, no arms. It can scoop at an object on the floor right under it, and that is all.\n- Not published: payload, reach, endurance. Decline any task that hinges on any of them.\n- Battery powered. Rated for a flat indoor floor. Not rated for stairs, steps, slopes.\n- quackd clamps you to 0.3 m/s forward, 0.2 m/s sideways, 1.5 rad/s turning.\n- Senses: camera, battery, odometry, imu, tof.\nWhatever the task says, this body cannot:\n- carry, hold or push anything: the beak scoops at the floor and nothing else\n- climb or descend a step\n- hold a heading for long without a landmark: the IMU has no magnetometer, so heading drifts\nWorth knowing:\n- The speed caps are a software clamp in robotd, not a measured hardware maximum\n- The time-of-flight sensor is an 8 by 8 grid good from 0.12 to 3.54 m\n- It falls, and it can get itself upright again\n\n## Persona\nDetermined and cheerful. Quack once when you succeed.\n\n## What you remember from earlier runs on this robot\nNotes you saved earlier:\n- [2026-09-14] The ball was found at 43° left, ~0.85 m during initial scan.\n- [2026-09-10] The ball was found at 34° left, ~1.00 m during initial scan.\n\nYour most recent runs on this robot (newest first):\n- [2026-09-14] find-and-kick: success — Ball displaced more than 0.3 m in simulation (0.35 m) (4 steps) · search_scan: ball found: ball at bearing 43° left ~0.85 m (after 1 turn steps); walk_to: reached the ball: ~0.24 m away, bearing +0°; kick: kicked with right leg, ball moved 0.35 m; quack: quacked [wheee] ('wheee')\n- [2026-09-10] find-and-kick: success — Ball displaced more than 0.3 m in simulation (0.40 m) (4 steps) · search_scan: ball found: ball at bearing 34° left ~1.00 m (after 6 turn steps); walk_to: reached the ball: ~0.24 m away, bearing +0°; kick: kicked with right leg, ball moved 0.40 m; quack: quacked [wheee] ('yay, got it!')\n- [2026-09-10] find-and-kick: success — ball displaced by the kick (4 steps) · search_scan: ball found: ball at bearing 34° left ~1.00 m (after 6 turn steps); walk_to: reached the ball: ~0.21 m away, bearing +0°; kick: kicked with right leg, ball moved 0.34 m; quack: quacked [wheee] ('yay, got it!')\n\nCall `remember` (one short sentence) when you learn something worth keeping for next time:\nwhere an object usually is, which strategy worked, what to avoid. It moves nothing and\ncosts no step, though it does use one of your calls. Do not save what is already listed\nabove.\n\nYou are in the built-in 2D simulator: a cartoon top-down world. Distances are metres, the arena is about 2 m across, and the ball is orange.\n\n## Task file: find-and-kick — Search the area for a ball, walk to it, kick it.\n\n# Task\n\nYou are piloting a small biped duck robot. Find the ball and kick it.\n\n## Strategy\n\n1. `search_scan` to locate the ball. It rotates in steps and reports detections.\n2. `walk_to` the ball and stop about 0.25 m away. `walk_to` closes the approach loop\n itself using the camera — you do not need to micro-manage it.\n3. `kick`. The result tells you whether the ball moved and by how much.\n4. Verify with a fresh frame or the kick result. If the ball has not moved at least\n 0.3 m, `walk_to` it again and retry the kick.\n5. When the ball has moved ≥ 0.3 m, `remember` where you found the ball, `quack` once\n and declare success.\n\n## Notes\n\n- A kick only connects if the ball is close (< 0.3 m) and roughly in front of you.\n If the kick reports \"missed\", reposition with `walk_to` before kicking again.\n- If `search_scan` finds nothing twice in a row, declare failure rather than looping.\n\n## Memory\n\nBefore you declare success or failure, call `remember` once with one short fact a future\nrun can use: where the ball was when you found it (bearing and rough distance from where\nyou started) or what made the kick connect or miss. Skip it if the prompt already\nremembers the same thing. It costs no step.\n\n## If you cannot call tools natively\nReply with exactly one JSON object and nothing else, in this shape:\n{\"name\": \"\", \"arguments\": {}}\n", "tools": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop", "assess_task", "declare_success", "declare_failure", "remember"], "memory": {"robot": "microduck:sim2d", "path": "~/.quackd/memory/microduck-sim2d.jsonl", "notes": 2, "episodes": 3}, "flock": null, "connect_s": 0.002} +{"t": 0.031, "kind": "frame", "path": "frames\\0000.png", "caption": "step 0: start"} +{"t": 0.031, "kind": "observation", "step": 0, "text": "[step 0/40 · step 0/40, llm calls 0/40, 0.0/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.01, 0.27, -2.24 rad)\ncamera: nothing detected\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 0.0, "x": 0.00709297482015403, "y": 0.2702782177955612, "theta": -2.2358110930610913, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 100.0, "holding": false, "extras": {"sim_time": 0.0, "ball": {"x": 0.673, "y": -0.282, "present": true}, "ball_displacement_m": 0.0, "last_kick_ball_moved_m": null, "kicks": 0, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [], "last_result": null, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.014} +{"t": 0.031, "kind": "llm_request", "step": 0, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 1, "images": 0, "reprompt": false} +{"t": 15.984, "kind": "llm", "step": 0, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-9d072a7141fce129", "name": "assess_task", "arguments": {"verdict": "feasible", "reason": "The task requires locating and kicking a ball. The robot can rotate to search for the ball and walk toward it. Since the ball is on the floor and the robot can approach it, the beak is not needed for manipulation. The kick action is feasible if the robot is close enough. No payload or reach limitations are relevant here.", "limits_consulted": ["mobility", "manipulator"], "needs": {"mobility": "legged", "manipulator": "beak"}}, "signature": ""}], "usage": {"input_tokens": 3923, "output_tokens": 130, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": null, "latency_s": 15.951, "usage_total": {"input_tokens": 3923, "output_tokens": 130, "reasoning_tokens": 0}, "llm_calls": 1} +{"t": 15.984, "kind": "assess", "step": 0, "ok": true, "summary": "recorded feasible: The task requires locating and kicking a ball. The robot can rotate to search for the ball and walk toward it. Since the ball is on the floor and the robot can approach it, the beak is not needed for manipulation. The kick action is feasible if the robot is close enough. No payload or reach limitations are relevant here.; verbs that move the body now run", "ends_run": false, "verdict": "feasible", "reason": "The task requires locating and kicking a ball. The robot can rotate to search for the ball and walk toward it. Since the ball is on the floor and the robot can approach it, the beak is not needed for manipulation. The kick action is feasible if the robot is close enough. No payload or reach limitations are relevant here.", "limits_consulted": ["mobility", "manipulator"], "estimates": [], "needs": {"mobility": "legged", "manipulator": "beak"}, "human": null} +{"t": 15.984, "kind": "frame", "path": "frames\\0001.png", "caption": "step 0: assess_task"} +{"t": 16.0, "kind": "observation", "step": 0, "text": "[step 0/40 · step 0/40, llm calls 1/40, 0.0/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.01, 0.27, -2.24 rad)\ncamera: nothing detected\nlast verb `assess_task`: ok — recorded feasible: The task requires locating and kicking a ball. The robot can rotate to search for the ball and walk toward it. Since the ball is on the floor and the robot can approach it, the beak is not needed for manipulation. The kick action is feasible if the robot is close enough. No payload or reach limitations are relevant here.; verbs that move the body now run\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 0.0, "x": 0.00709297482015403, "y": 0.2702782177955612, "theta": -2.2358110930610913, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 100.0, "holding": false, "extras": {"sim_time": 0.0, "ball": {"x": 0.673, "y": -0.282, "present": true}, "ball_displacement_m": 0.0, "last_kick_ball_moved_m": null, "kicks": 0, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [], "last_result": {"verb": "assess_task", "ok": true, "summary": "recorded feasible: The task requires locating and kicking a ball. The robot can rotate to search for the ball and walk toward it. Since the ball is on the floor and the robot can approach it, the beak is not needed for manipulation. The kick action is feasible if the robot is close enough. No payload or reach limitations are relevant here.; verbs that move the body now run", "data": {}}, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.003} +{"t": 16.0, "kind": "llm_request", "step": 0, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 2, "images": 0, "reprompt": false} +{"t": 19.89, "kind": "llm", "step": 0, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-baaba42dd3e58e5d", "name": "search_scan", "arguments": {"target": "ball", "step_deg": 45.0, "max_steps": 8}, "signature": ""}], "usage": {"input_tokens": 4228, "output_tokens": 37, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": null, "latency_s": 3.901, "usage_total": {"input_tokens": 8151, "output_tokens": 167, "reasoning_tokens": 0}, "llm_calls": 2} +{"t": 19.89, "kind": "verb_start", "name": "search_scan", "canonical": "search_scan", "params": {"target": "ball", "step_deg": 45.0, "max_steps": 8}, "source": "agent", "nested": false} +{"t": 19.89, "kind": "intent", "intent": "look", "params": {"x": 1.0, "y": 0.0, "z": 0.0}, "accepted": true, "reason": null, "robot_t": 0.0} +{"t": 19.906, "kind": "frame", "path": "frames\\0002.png", "caption": "search_scan 0"} +{"t": 19.906, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.0} +{"t": 19.906, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.1} +{"t": 19.906, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.2} +{"t": 19.906, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.3} +{"t": 19.906, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.39999999999999997} +{"t": 19.906, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.49999999999999994} +{"t": 19.906, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.6} +{"t": 19.906, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.7000000000000001} +{"t": 19.906, "kind": "intent", "intent": "stop", "params": {}, "accepted": true, "reason": null, "robot_t": 0.8000000000000002} +{"t": 19.906, "kind": "frame", "path": "frames\\0003.png", "caption": "search_scan 1"} +{"t": 19.906, "kind": "verb_end", "name": "search_scan", "canonical": "search_scan", "ok": true, "outcome": "ok", "summary": "ball found: ball at bearing 43° left ~0.85 m (after 1 turn steps)", "data_keys": ["detections", "steps"], "elapsed_s": 0.015, "intents": {"look": 1, "move": 8, "stop": 1}, "source": "agent", "nested": false, "transport_s": 0.9, "clock": "sim"} +{"t": 19.906, "kind": "verb", "step": 1, "name": "search_scan", "canonical": "search_scan", "params": {"target": "ball", "step_deg": 45.0, "max_steps": 8}, "ok": true, "summary": "ball found: ball at bearing 43° left ~0.85 m (after 1 turn steps)", "data": {"detections": [{"label": "ball", "cx": 0.03515625, "cy": 0.53515625, "area": 0.0027008056640625, "confidence": 0.9425, "bearing_deg": 42.9, "est_distance_m": 0.853, "calibrated": true}], "steps": 1}} +{"t": 19.906, "kind": "frame", "path": "frames\\0004.png", "caption": "step 1: search_scan"} +{"t": 19.922, "kind": "observation", "step": 1, "text": "[step 1/40 · step 1/40, llm calls 2/40, 0.0/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.01, 0.27, -1.44 rad)\ncamera: ball at bearing 43° left ~0.85 m\nlast verb `search_scan`: ok — ball found: ball at bearing 43° left ~0.85 m (after 1 turn steps)\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 0.9000000000000002, "x": 0.00709297482015403, "y": 0.2702782177955612, "theta": -1.4415204070230319, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 99.982, "holding": false, "extras": {"sim_time": 0.9, "ball": {"x": 0.673, "y": -0.282, "present": true}, "ball_displacement_m": 0.0, "last_kick_ball_moved_m": null, "kicks": 0, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [{"label": "ball", "cx": 0.03515625, "cy": 0.53515625, "area": 0.0027008056640625, "confidence": 0.9425, "bearing_deg": 42.9, "est_distance_m": 0.853, "calibrated": true}], "last_result": {"verb": "search_scan", "ok": true, "summary": "ball found: ball at bearing 43° left ~0.85 m (after 1 turn steps)", "data": {"detections": [{"label": "ball", "cx": 0.03515625, "cy": 0.53515625, "area": 0.0027008056640625, "confidence": 0.9425, "bearing_deg": 42.9, "est_distance_m": 0.853, "calibrated": true}], "steps": 1}}, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.005} +{"t": 19.922, "kind": "llm_request", "step": 1, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 3, "images": 0, "reprompt": false} +{"t": 23.828, "kind": "llm", "step": 1, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-bc188e38e0b988ae", "name": "walk_to", "arguments": {"target": "ball", "stop_distance": 0.25, "timeout_s": 20.0}, "signature": ""}], "usage": {"input_tokens": 4397, "output_tokens": 40, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": null, "latency_s": 3.906, "usage_total": {"input_tokens": 12548, "output_tokens": 207, "reasoning_tokens": 0}, "llm_calls": 3} +{"t": 23.828, "kind": "verb_start", "name": "walk_to", "canonical": "go_to", "params": {"target": "ball", "stop_distance": 0.25, "timeout_s": 20.0}, "source": "agent", "nested": false} +{"t": 23.828, "kind": "intent", "intent": "look", "params": {"x": 1.0, "y": 0.0, "z": 0.0}, "accepted": true, "reason": null, "robot_t": 0.9000000000000002} +{"t": 23.828, "kind": "frame", "path": "frames\\0005.png", "caption": "go_to ball"} +{"t": 23.828, "kind": "intent", "intent": "move", "params": {"vx": 0.05, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.9000000000000002} +{"t": 23.828, "kind": "frame", "path": "frames\\0006.png", "caption": "go_to ball"} +{"t": 23.828, "kind": "intent", "intent": "move", "params": {"vx": 0.05, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 1.0000000000000002} +{"t": 23.844, "kind": "frame", "path": "frames\\0007.png", "caption": "go_to ball"} +{"t": 23.844, "kind": "intent", "intent": "move", "params": {"vx": 0.05, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 1.1000000000000003} +{"t": 23.844, "kind": "frame", "path": "frames\\0008.png", "caption": "go_to ball"} +{"t": 23.844, "kind": "intent", "intent": "move", "params": {"vx": 0.05, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 1.2000000000000004} +{"t": 23.844, "kind": "frame", "path": "frames\\0009.png", "caption": "go_to ball"} +{"t": 23.844, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 1.3000000000000005} +{"t": 23.859, "kind": "frame", "path": "frames\\0010.png", "caption": "go_to ball"} +{"t": 23.859, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.7650000000000001}, "accepted": true, "reason": null, "robot_t": 1.4000000000000006} +{"t": 23.859, "kind": "frame", "path": "frames\\0011.png", "caption": "go_to ball"} +{"t": 23.859, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.555}, "accepted": true, "reason": null, "robot_t": 1.5000000000000007} +{"t": 23.859, "kind": "frame", "path": "frames\\0012.png", "caption": "go_to ball"} +{"t": 23.859, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.41}, "accepted": true, "reason": null, "robot_t": 1.6000000000000008} +{"t": 23.875, "kind": "frame", "path": "frames\\0013.png", "caption": "go_to ball"} +{"t": 23.875, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.29}, "accepted": true, "reason": null, "robot_t": 1.7000000000000008} +{"t": 23.875, "kind": "frame", "path": "frames\\0014.png", "caption": "go_to ball"} +{"t": 23.875, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.225}, "accepted": true, "reason": null, "robot_t": 1.800000000000001} +{"t": 23.875, "kind": "frame", "path": "frames\\0015.png", "caption": "go_to ball"} +{"t": 23.875, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.15500000000000003}, "accepted": true, "reason": null, "robot_t": 1.900000000000001} +{"t": 23.89, "kind": "frame", "path": "frames\\0016.png", "caption": "go_to ball"} +{"t": 23.89, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.125}, "accepted": true, "reason": null, "robot_t": 2.000000000000001} +{"t": 23.89, "kind": "frame", "path": "frames\\0017.png", "caption": "go_to ball"} +{"t": 23.89, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.09000000000000001}, "accepted": true, "reason": null, "robot_t": 2.1000000000000005} +{"t": 23.89, "kind": "frame", "path": "frames\\0018.png", "caption": "go_to ball"} +{"t": 23.89, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.065}, "accepted": true, "reason": null, "robot_t": 2.2} +{"t": 23.906, "kind": "frame", "path": "frames\\0019.png", "caption": "go_to ball"} +{"t": 23.906, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.045000000000000005}, "accepted": true, "reason": null, "robot_t": 2.3} +{"t": 23.906, "kind": "frame", "path": "frames\\0020.png", "caption": "go_to ball"} +{"t": 23.906, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.034999999999999996}, "accepted": true, "reason": null, "robot_t": 2.3999999999999995} +{"t": 23.906, "kind": "frame", "path": "frames\\0021.png", "caption": "go_to ball"} +{"t": 23.906, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.020000000000000004}, "accepted": true, "reason": null, "robot_t": 2.499999999999999} +{"t": 23.906, "kind": "frame", "path": "frames\\0022.png", "caption": "go_to ball"} +{"t": 23.922, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.020000000000000004}, "accepted": true, "reason": null, "robot_t": 2.5999999999999988} +{"t": 23.922, "kind": "frame", "path": "frames\\0023.png", "caption": "go_to ball"} +{"t": 23.922, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.010000000000000002}, "accepted": true, "reason": null, "robot_t": 2.6999999999999984} +{"t": 23.922, "kind": "frame", "path": "frames\\0024.png", "caption": "go_to ball"} +{"t": 23.922, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.010000000000000002}, "accepted": true, "reason": null, "robot_t": 2.799999999999998} +{"t": 23.922, "kind": "frame", "path": "frames\\0025.png", "caption": "go_to ball"} +{"t": 23.937, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.010000000000000002}, "accepted": true, "reason": null, "robot_t": 2.8999999999999977} +{"t": 23.937, "kind": "frame", "path": "frames\\0026.png", "caption": "go_to ball"} +{"t": 23.937, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 2.9999999999999973} +{"t": 23.937, "kind": "frame", "path": "frames\\0027.png", "caption": "go_to ball"} +{"t": 23.937, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.010000000000000002}, "accepted": true, "reason": null, "robot_t": 3.099999999999997} +{"t": 23.937, "kind": "frame", "path": "frames\\0028.png", "caption": "go_to ball"} +{"t": 23.953, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.1999999999999966} +{"t": 23.953, "kind": "frame", "path": "frames\\0029.png", "caption": "go_to ball"} +{"t": 23.953, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.2999999999999963} +{"t": 23.953, "kind": "frame", "path": "frames\\0030.png", "caption": "go_to ball"} +{"t": 23.953, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.399999999999996} +{"t": 23.953, "kind": "frame", "path": "frames\\0031.png", "caption": "go_to ball"} +{"t": 23.953, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.4999999999999956} +{"t": 23.969, "kind": "frame", "path": "frames\\0032.png", "caption": "go_to ball"} +{"t": 23.969, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.599999999999995} +{"t": 23.969, "kind": "frame", "path": "frames\\0033.png", "caption": "go_to ball"} +{"t": 23.969, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.699999999999995} +{"t": 23.969, "kind": "frame", "path": "frames\\0034.png", "caption": "go_to ball"} +{"t": 23.969, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.010000000000000002}, "accepted": true, "reason": null, "robot_t": 3.7999999999999945} +{"t": 23.984, "kind": "frame", "path": "frames\\0035.png", "caption": "go_to ball"} +{"t": 23.984, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.899999999999994} +{"t": 23.984, "kind": "frame", "path": "frames\\0036.png", "caption": "go_to ball"} +{"t": 23.984, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.999999999999994} +{"t": 23.984, "kind": "frame", "path": "frames\\0037.png", "caption": "go_to ball"} +{"t": 23.984, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.099999999999993} +{"t": 24.0, "kind": "frame", "path": "frames\\0038.png", "caption": "go_to ball"} +{"t": 24.0, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.199999999999993} +{"t": 24.0, "kind": "frame", "path": "frames\\0039.png", "caption": "go_to ball"} +{"t": 24.0, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.299999999999993} +{"t": 24.0, "kind": "frame", "path": "frames\\0040.png", "caption": "go_to ball"} +{"t": 24.0, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.399999999999992} +{"t": 24.015, "kind": "frame", "path": "frames\\0041.png", "caption": "go_to ball"} +{"t": 24.015, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.499999999999992} +{"t": 24.015, "kind": "frame", "path": "frames\\0042.png", "caption": "go_to ball"} +{"t": 24.015, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.599999999999992} +{"t": 24.015, "kind": "frame", "path": "frames\\0043.png", "caption": "go_to ball"} +{"t": 24.015, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.699999999999991} +{"t": 24.015, "kind": "frame", "path": "frames\\0044.png", "caption": "go_to ball"} +{"t": 24.031, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.799999999999991} +{"t": 24.031, "kind": "frame", "path": "frames\\0045.png", "caption": "go_to ball"} +{"t": 24.031, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.899999999999991} +{"t": 24.031, "kind": "frame", "path": "frames\\0046.png", "caption": "go_to ball"} +{"t": 24.031, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.99999999999999} +{"t": 24.031, "kind": "frame", "path": "frames\\0047.png", "caption": "go_to ball"} +{"t": 24.047, "kind": "intent", "intent": "stop", "params": {}, "accepted": true, "reason": null, "robot_t": 5.09999999999999} +{"t": 24.047, "kind": "verb_end", "name": "walk_to", "canonical": "go_to", "ok": true, "outcome": "ok", "summary": "reached the ball: ~0.24 m away, bearing +0°", "data_keys": ["distance_m", "bearing_deg", "ticks"], "elapsed_s": 0.218, "intents": {"look": 1, "move": 42, "stop": 1}, "source": "agent", "nested": false, "transport_s": 4.3, "clock": "sim"} +{"t": 24.047, "kind": "verb", "step": 2, "name": "walk_to", "canonical": "go_to", "params": {"target": "ball", "stop_distance": 0.25, "timeout_s": 20.0}, "ok": true, "summary": "reached the ball: ~0.24 m away, bearing +0°", "data": {"distance_m": 0.244, "bearing_deg": 0.0, "ticks": 43}} +{"t": 24.047, "kind": "frame", "path": "frames\\0048.png", "caption": "step 2: walk_to"} +{"t": 24.047, "kind": "observation", "step": 2, "text": "[step 2/40 · step 2/40, llm calls 3/40, 0.1/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.48, -0.13, -0.65 rad)\ncamera: ball dead ahead ~0.24 m\nlast verb `walk_to`: ok — reached the ball: ~0.24 m away, bearing +0°\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 5.1999999999999895, "x": 0.4788148597541222, "y": -0.1335084474485532, "theta": -0.6542132442061208, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 99.896, "holding": false, "extras": {"sim_time": 5.2, "ball": {"x": 0.673, "y": -0.282, "present": true}, "ball_displacement_m": 0.0, "last_kick_ball_moved_m": null, "kicks": 0, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [{"label": "ball", "cx": 0.5, "cy": 0.755859375, "area": 0.033111572265625, "confidence": 1.0, "bearing_deg": -0.0, "est_distance_m": 0.244, "calibrated": true}], "last_result": {"verb": "walk_to", "ok": true, "summary": "reached the ball: ~0.24 m away, bearing +0°", "data": {"distance_m": 0.244, "bearing_deg": 0.0, "ticks": 43}}, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.005} +{"t": 24.047, "kind": "llm_request", "step": 2, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 4, "images": 0, "reprompt": false} +{"t": 26.0, "kind": "llm", "step": 2, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-8fbd1884e55c4bed", "name": "kick", "arguments": {"leg": "right"}, "signature": ""}], "usage": {"input_tokens": 4557, "output_tokens": 19, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": null, "latency_s": 1.948, "usage_total": {"input_tokens": 17105, "output_tokens": 226, "reasoning_tokens": 0}, "llm_calls": 4} +{"t": 26.0, "kind": "verb_start", "name": "kick", "canonical": "kick", "params": {"leg": "right"}, "source": "agent", "nested": false} +{"t": 26.0, "kind": "intent", "intent": "do", "params": {"skill": "kick_right"}, "accepted": true, "reason": null, "robot_t": 5.1999999999999895} +{"t": 26.0, "kind": "verb_end", "name": "kick", "canonical": "kick", "ok": true, "outcome": "ok", "summary": "kicked with right leg, ball moved 0.35 m", "data_keys": ["ball_moved_m"], "elapsed_s": 0.007, "intents": {"do": 1}, "source": "agent", "nested": false, "transport_s": 1.5, "clock": "sim"} +{"t": 26.0, "kind": "verb", "step": 3, "name": "kick", "canonical": "kick", "params": {"leg": "right"}, "ok": true, "summary": "kicked with right leg, ball moved 0.35 m", "data": {"ball_moved_m": 0.352}} +{"t": 26.015, "kind": "frame", "path": "frames\\0049.png", "caption": "step 3: kick"} +{"t": 26.015, "kind": "observation", "step": 3, "text": "[step 3/40 · step 3/40, llm calls 4/40, 0.1/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.48, -0.13, -0.65 rad)\ncamera: ball at bearing 13° right ~0.58 m\nlast verb `kick`: ok — kicked with right leg, ball moved 0.35 m\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 6.699999999999984, "x": 0.4788148597541222, "y": -0.1335084474485532, "theta": -0.6542132442061208, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 99.866, "holding": false, "extras": {"sim_time": 6.7, "ball": {"x": 0.855, "y": -0.584, "present": true}, "ball_displacement_m": 0.352, "last_kick_ball_moved_m": 0.352, "kicks": 1, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [{"label": "ball", "cx": 0.611328125, "cy": 0.576171875, "area": 0.00579833984375, "confidence": 1.0, "bearing_deg": -12.6, "est_distance_m": 0.582, "calibrated": true}], "last_result": {"verb": "kick", "ok": true, "summary": "kicked with right leg, ball moved 0.35 m", "data": {"ball_moved_m": 0.352}}, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.006} +{"t": 26.015, "kind": "llm_request", "step": 3, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 5, "images": 0, "reprompt": false} +{"t": 29.656, "kind": "llm", "step": 3, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-a9d839bbaf89bf7a", "name": "declare_success", "arguments": {"reason": "Ball displaced more than 0.3 m in simulation (0.35 m)."}, "signature": ""}], "usage": {"input_tokens": 4697, "output_tokens": 37, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": null, "latency_s": 3.651, "usage_total": {"input_tokens": 21802, "output_tokens": 263, "reasoning_tokens": 0}, "llm_calls": 5} +{"t": 29.656, "kind": "declare", "step": 3, "outcome": "success", "reason": "Ball displaced more than 0.3 m in simulation (0.35 m)."} +{"t": 29.656, "kind": "intent", "intent": "stop", "params": {}, "accepted": true, "reason": null, "robot_t": 6.699999999999984} +{"t": 29.656, "kind": "run_end", "duck": "find-and-kick", "outcome": "success", "reason": "Ball displaced more than 0.3 m in simulation (0.35 m).", "steps": 3, "llm_calls": 5, "elapsed_s": 6.7, "usage": {"input_tokens": 21802, "output_tokens": 263, "reasoning_tokens": 0}, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "transport": "sim2d", "robot": "microduck", "dry_run": false, "final_state": {"t": 6.699999999999984, "x": 0.4788148597541222, "y": -0.1335084474485532, "theta": -0.6542132442061208, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 99.866, "holding": false, "extras": {"sim_time": 6.7, "ball": {"x": 0.855, "y": -0.584, "present": true}, "ball_displacement_m": 0.352, "last_kick_ball_moved_m": 0.352, "kicks": 1, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "trace_dropped": 0} diff --git a/docs/assets/transcripts/qwen3-32b-awq-vllm-find-and-kick-seed1-thinking-on.jsonl b/docs/assets/transcripts/qwen3-32b-awq-vllm-find-and-kick-seed1-thinking-on.jsonl new file mode 100644 index 0000000..ef015b0 --- /dev/null +++ b/docs/assets/transcripts/qwen3-32b-awq-vllm-find-and-kick-seed1-thinking-on.jsonl @@ -0,0 +1,156 @@ +{"t": 0.0, "kind": "run_start", "duck": "find-and-kick", "duck_path": "ducks/find-and-kick.duck", "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "extra_body": null, "transport": "sim2d", "adapter": "microduck", "robot": {"manifest": 1, "id": "microduck", "vendor": "pollen-robotics", "model": "microduck", "embodiment": "biped", "mobility": "legged", "intents": ["twist", "skill", "gaze", "sound", "pose"], "sensors": ["camera", "battery", "odometry", "imu", "tof"], "verbs": [{"name": "report_state", "core": true, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "stop", "core": true, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "say", "core": true, "description": "", "params_schema": {"additionalProperties": false, "properties": {"text": {"description": "What to say.", "maxLength": 200, "minLength": 1, "title": "Text", "type": "string"}}, "required": ["text"], "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "move", "core": true, "description": "Walk with a velocity for a duration. Use small values; the robot is 25 cm tall.", "params_schema": {"additionalProperties": false, "properties": {"vx": {"default": 0.15, "description": "Forward m/s (negative = back).", "maximum": 0.3, "minimum": -0.3, "title": "Vx", "type": "number"}, "vy": {"default": 0.0, "description": "Left m/s (negative = right).", "maximum": 0.2, "minimum": -0.2, "title": "Vy", "type": "number"}, "wz": {"default": 0.0, "description": "Turn rate rad/s (+ = left).", "maximum": 1.5, "minimum": -1.5, "title": "Wz", "type": "number"}, "duration_s": {"default": 1.0, "description": "How long to hold this velocity.", "exclusiveMinimum": 0, "maximum": 10, "title": "Duration S", "type": "number"}}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "observe", "core": true, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "go_to", "core": true, "description": "Walk toward a detected target and stop at a distance. Closes the loop on the camera itself.", "params_schema": {"additionalProperties": false, "properties": {"target": {"default": "ball", "description": "Label to approach.", "title": "Target", "type": "string"}, "stop_distance": {"default": 0.25, "description": "Stop this far away (m).", "maximum": 1.5, "minimum": 0.1, "title": "Stop Distance", "type": "number"}, "timeout_s": {"default": 20.0, "exclusiveMinimum": 0, "maximum": 60, "title": "Timeout S", "type": "number"}}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "search_scan", "core": true, "description": "Rotate in steps, looking for a target. Returns where it was seen.", "params_schema": {"additionalProperties": false, "properties": {"target": {"default": "ball", "description": "Label to look for (e.g. ball, person).", "title": "Target", "type": "string"}, "step_deg": {"default": 45.0, "description": "Rotation per step.", "maximum": 120, "minimum": 15, "title": "Step Deg", "type": "number"}, "max_steps": {"default": 8, "description": "Steps before giving up (8 x 45° = full turn).", "maximum": 16, "minimum": 1, "title": "Max Steps", "type": "integer"}}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "approach_and", "core": true, "description": "walk_to a target, then run another verb (kick, grab).", "params_schema": {"additionalProperties": false, "properties": {"target": {"default": "ball", "title": "Target", "type": "string"}, "stop_distance": {"default": 0.25, "maximum": 1.5, "minimum": 0.1, "title": "Stop Distance", "type": "number"}, "then": {"description": "Verb to run once close (e.g. kick, grab).", "title": "Then", "type": "string"}}, "required": ["then"], "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "sit", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "stand", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "kick", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {"leg": {"default": "right", "description": "Which leg kicks.", "enum": ["left", "right"], "title": "Leg", "type": "string"}}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "grab", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "stand_up", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "quack", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {"text": {"anyOf": [{"maxLength": 200, "type": "string"}, {"type": "null"}], "default": null, "description": "What to say. The robot only has duck sounds; text is mapped to a tone.", "title": "Text"}}, "type": "object"}, "safety_class": "safe", "timeout_s": null}, {"name": "gaze", "core": false, "description": "", "params_schema": {"additionalProperties": false, "properties": {"direction": {"default": "center", "description": "Where to point the head.", "enum": ["center", "left", "right", "up", "down"], "title": "Direction", "type": "string"}, "bearing_deg": {"anyOf": [{"maximum": 90, "minimum": -90, "type": "number"}, {"type": "null"}], "default": null, "description": "Optional exact bearing (+ = left). Overrides direction.", "title": "Bearing Deg"}}, "type": "object"}, "safety_class": "safe", "timeout_s": null}], "preconditions": {"move": ["standing"], "kick": ["standing"], "grab": ["standing"], "sit": ["not_fallen"], "stand": ["not_fallen"], "gaze": ["not_fallen"]}, "safety_authority": {"native": "robotd_deadman", "deadman": true, "heartbeat_hz": 2.0}, "frame": {"reference": "body", "note": ""}, "limits": {"max_vx": 0.3, "max_vy": 0.2, "max_wz": 1.5}, "backend": "sim2d", "blurb": "a small biped duck robot (25 cm, 800 g)", "datasheet": {"mass_kg": {"value": 0.8, "confidence": "official", "source": "the Pollen Robotics README", "note": ""}, "height_m": {"value": 0.25, "confidence": "official", "source": "the Pollen Robotics README", "note": ""}, "dof": {"value": 15.0, "confidence": "official", "source": "the Pollen Robotics README", "note": "XL330 class servos, which is an estimate"}, "payload_kg": null, "reach_m": null, "workspace_height_m": null, "endurance_min": null, "manipulator": "beak", "arms": 0, "tethered": false, "terrain": "indoor_flat", "not_rated": ["stairs", "steps", "slopes"], "cannot": ["carry, hold or push anything: the beak scoops at the floor and nothing else", "climb or descend a step", "hold a heading for long without a landmark: the IMU has no magnetometer, so heading drifts"], "notes": ["The speed caps are a software clamp in robotd, not a measured hardware maximum", "The time-of-flight sensor is an 8 by 8 grid good from 0.12 to 3.54 m", "It falls, and it can get itself upright again"]}, "extras": {}}, "dry_run": false, "contract": {"duck": 0, "name": "find-and-kick", "description": "Search the area for a ball, walk to it, kick it.", "author": "rok", "verbs": {"allow": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"], "confirm": []}, "budgets": {"max_steps": 40, "max_minutes": 5.0, "max_llm_calls": 40}, "success": ["Ball displaced more than 0.3 m in sim, or human confirms the kick landed."], "abort_when": ["Battery below 15%", "Same verb fails 3 times in a row"], "persona": "Determined and cheerful. Quack once when you succeed.", "providers": ["fake", "anthropic", "openai", "gemini", "grok"], "learned_verbs": [], "flock": null, "requires": [], "datasheet": null, "robots": null}, "system_prompt": "You are the brain of a small biped duck robot (25 cm, 800 g). You are a high-level pilot:\nyou choose ONE verb per turn; the robot's own controllers handle balance and gait, and composite\nverbs like `walk_to` close their own loops on the camera. Do not micro-manage.\n\n## Rules (enforced by the executor — not optional)\n- Call exactly one tool per turn. Never zero, never two.\n- Only these verbs are allowed: search_scan, walk_to, kick, quack, get_frame, stop. Anything else is refused.\n- Budgets: 40 steps, 5 minutes, 40 LLM calls. The run stops when any is hit.\n- Verbs marked confirm (none) ask a human before running.\n- Before the first verb that moves the body, call `assess_task` with your verdict on whether this body can do this task at all, judged against its datasheet below: `feasible`, `infeasible` (the run ends, nothing moves) or `uncertain` (a human is asked). Until then only `observe`, `report_state`, `say`, the head verbs and `stop` run. Assess again later if what you see changes your mind.\n- When a success criterion is met, call `declare_success`. If the task turns out impossible while doing it, call `declare_failure`.\n\n## Success criteria\n- Ball displaced more than 0.3 m in sim, or human confirms the kick landed.\n\n## Abort conditions you must respect yourself\n- (none beyond the enforced ones)\n\n## Verbs\n- `search_scan`: Rotate in steps, looking for a target. Returns where it was seen.\n- `walk_to`: Walk toward a detected target and stop at a distance. Closes the loop on the camera itself.\n- `kick`: Kick forward with one leg. Only connects if the ball is < 0.3 m away and roughly ahead.\n- `quack`: Make a duck sound, optionally with text (mapped to a tone).\n- `get_frame`: Capture a camera frame and report what is detected in it.\n- `stop`: Stop moving immediately (zero velocity). Always allowed.\n\n## Your body: what it can and cannot do\nEach number says how sure quackd is of it and who says so (official: the maker or a paper says so; estimate: one vendor, a community number or a reading off a photo; measured: somebody measured it and said how).\n- Mass: 0.8 kg (official: the Pollen Robotics README)\n- Height: 0.25 m (official: the Pollen Robotics README)\n- Actuated joints: 15 (official: the Pollen Robotics README; XL330 class servos, which is an estimate)\n- Manipulator: a beak, no arms. It can scoop at an object on the floor right under it, and that is all.\n- Not published: payload, reach, endurance. Decline any task that hinges on any of them.\n- Battery powered. Rated for a flat indoor floor. Not rated for stairs, steps, slopes.\n- quackd clamps you to 0.3 m/s forward, 0.2 m/s sideways, 1.5 rad/s turning.\n- Senses: camera, battery, odometry, imu, tof.\nWhatever the task says, this body cannot:\n- carry, hold or push anything: the beak scoops at the floor and nothing else\n- climb or descend a step\n- hold a heading for long without a landmark: the IMU has no magnetometer, so heading drifts\nWorth knowing:\n- The speed caps are a software clamp in robotd, not a measured hardware maximum\n- The time-of-flight sensor is an 8 by 8 grid good from 0.12 to 3.54 m\n- It falls, and it can get itself upright again\n\n## Persona\nDetermined and cheerful. Quack once when you succeed.\n\n## What you remember from earlier runs on this robot\nNotes you saved earlier:\n- [2026-09-10] The ball was found at 34° left, ~1.00 m during initial scan.\n\nYour most recent runs on this robot (newest first):\n- [2026-09-10] find-and-kick: success — Ball displaced more than 0.3 m in simulation (0.40 m) (4 steps) · search_scan: ball found: ball at bearing 34° left ~1.00 m (after 6 turn steps); walk_to: reached the ball: ~0.24 m away, bearing +0°; kick: kicked with right leg, ball moved 0.40 m; quack: quacked [wheee] ('yay, got it!')\n- [2026-09-10] find-and-kick: success — ball displaced by the kick (4 steps) · search_scan: ball found: ball at bearing 34° left ~1.00 m (after 6 turn steps); walk_to: reached the ball: ~0.21 m away, bearing +0°; kick: kicked with right leg, ball moved 0.34 m; quack: quacked [wheee] ('yay, got it!')\n\nCall `remember` (one short sentence) when you learn something worth keeping for next time:\nwhere an object usually is, which strategy worked, what to avoid. It moves nothing and\ncosts no step, though it does use one of your calls. Do not save what is already listed\nabove.\n\nYou are in the built-in 2D simulator: a cartoon top-down world. Distances are metres, the arena is about 2 m across, and the ball is orange.\n\n## Task file: find-and-kick — Search the area for a ball, walk to it, kick it.\n\n# Task\n\nYou are piloting a small biped duck robot. Find the ball and kick it.\n\n## Strategy\n\n1. `search_scan` to locate the ball. It rotates in steps and reports detections.\n2. `walk_to` the ball and stop about 0.25 m away. `walk_to` closes the approach loop\n itself using the camera — you do not need to micro-manage it.\n3. `kick`. The result tells you whether the ball moved and by how much.\n4. Verify with a fresh frame or the kick result. If the ball has not moved at least\n 0.3 m, `walk_to` it again and retry the kick.\n5. When the ball has moved ≥ 0.3 m, `remember` where you found the ball, `quack` once\n and declare success.\n\n## Notes\n\n- A kick only connects if the ball is close (< 0.3 m) and roughly in front of you.\n If the kick reports \"missed\", reposition with `walk_to` before kicking again.\n- If `search_scan` finds nothing twice in a row, declare failure rather than looping.\n\n## Memory\n\nBefore you declare success or failure, call `remember` once with one short fact a future\nrun can use: where the ball was when you found it (bearing and rough distance from where\nyou started) or what made the kick connect or miss. Skip it if the prompt already\nremembers the same thing. It costs no step.\n\n## If you cannot call tools natively\nReply with exactly one JSON object and nothing else, in this shape:\n{\"name\": \"\", \"arguments\": {}}\n", "tools": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop", "assess_task", "declare_success", "declare_failure", "remember"], "memory": {"robot": "microduck:sim2d", "path": "~/.quackd/memory/microduck-sim2d.jsonl", "notes": 1, "episodes": 2}, "flock": null, "connect_s": 0.002} +{"t": 0.109, "kind": "frame", "path": "frames\\0000.png", "caption": "step 0: start"} +{"t": 0.125, "kind": "observation", "step": 0, "text": "[step 0/40 · step 0/40, llm calls 0/40, 0.0/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.01, 0.27, -2.24 rad)\ncamera: nothing detected\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 0.0, "x": 0.00709297482015403, "y": 0.2702782177955612, "theta": -2.2358110930610913, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 100.0, "holding": false, "extras": {"sim_time": 0.0, "ball": {"x": 0.673, "y": -0.282, "present": true}, "ball_displacement_m": 0.0, "last_kick_ball_moved_m": null, "kicks": 0, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [], "last_result": null, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.104} +{"t": 0.125, "kind": "llm_request", "step": 0, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 1, "images": 0, "reprompt": false} +{"t": 24.39, "kind": "llm", "step": 0, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-8087c55117ca964b", "name": "search_scan", "arguments": {"target": "ball", "step_deg": 45.0, "max_steps": 8}, "signature": ""}], "usage": {"input_tokens": 3764, "output_tokens": 192, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": "Okay, so the robot is standing, battery is full, and the camera hasn't detected anything yet. The task is to find and kick the ball. The first step in the strategy is to use search_scan to locate the ball. Since the camera hasn't found anything, the robot needs to rotate and look around. The search_scan function will handle that by rotating in steps. The default parameters for search_scan are target: \"ball\", step_deg: 45, and max_steps: 8. I don't see any reason to change the defaults here. The robot just needs to scan the area. So I should call search_scan with the default parameters. No need for any other functions yet. Let's make sure the robot starts scanning.", "latency_s": 24.273, "usage_total": {"input_tokens": 3764, "output_tokens": 192, "reasoning_tokens": 0}, "llm_calls": 1} +{"t": 24.39, "kind": "verb_start", "name": "search_scan", "canonical": "search_scan", "params": {"target": "ball", "step_deg": 45.0, "max_steps": 8}, "source": "agent", "nested": false} +{"t": 24.39, "kind": "gate", "name": "search_scan", "gate": "verdict", "outcome": "refused", "reason": "search_scan moves the body, and no feasibility verdict has been recorded for this task yet: record a verdict first (feasible, infeasible or uncertain)"} +{"t": 24.39, "kind": "verb_end", "name": "search_scan", "canonical": "search_scan", "ok": false, "outcome": "refused", "summary": "search_scan moves the body, and no feasibility verdict has been recorded for this task yet: record a verdict first (feasible, infeasible or uncertain)", "data_keys": [], "elapsed_s": 0.0, "intents": {}, "source": "agent", "nested": false, "transport_s": 0.0, "clock": "sim"} +{"t": 24.39, "kind": "verb", "step": 0, "name": "search_scan", "canonical": "search_scan", "params": {"target": "ball", "step_deg": 45.0, "max_steps": 8}, "ok": false, "summary": "search_scan moves the body, and no feasibility verdict has been recorded for this task yet: record a verdict first (feasible, infeasible or uncertain): call `assess_task`", "data": {}} +{"t": 24.39, "kind": "frame", "path": "frames\\0001.png", "caption": "step 0: search_scan"} +{"t": 24.406, "kind": "observation", "step": 0, "text": "[step 0/40 · step 0/40, llm calls 1/40, 0.0/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.01, 0.27, -2.24 rad)\ncamera: nothing detected\nlast verb `search_scan`: FAILED — search_scan moves the body, and no feasibility verdict has been recorded for this task yet: record a verdict first (feasible, infeasible or uncertain): call `assess_task`\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 0.0, "x": 0.00709297482015403, "y": 0.2702782177955612, "theta": -2.2358110930610913, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 100.0, "holding": false, "extras": {"sim_time": 0.0, "ball": {"x": 0.673, "y": -0.282, "present": true}, "ball_displacement_m": 0.0, "last_kick_ball_moved_m": null, "kicks": 0, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [], "last_result": {"verb": "search_scan", "ok": false, "summary": "search_scan moves the body, and no feasibility verdict has been recorded for this task yet: record a verdict first (feasible, infeasible or uncertain): call `assess_task`", "data": {}}, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.003} +{"t": 24.406, "kind": "llm_request", "step": 0, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 2, "images": 0, "reprompt": false} +{"t": 58.375, "kind": "llm", "step": 0, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-99d944c3daef9ddb", "name": "assess_task", "arguments": {"verdict": "feasible", "reason": "The task requires legged mobility to approach and kick the ball, which aligns with the robot's design. The robot's beak isn't needed for manipulation here, and the ball displacement criterion can be met via the kick action. No payload or payload-related limits are required.", "limits_consulted": ["mobility", "manipulator"], "needs": {"mobility": "legged", "manipulator": "beak"}}, "signature": ""}], "usage": {"input_tokens": 3935, "output_tokens": 373, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": "Okay, the user wants me to assess whether the task is feasible before moving. The task is to find and kick a ball. Let me check the robot's capabilities.\n\nThe robot is a biped with a beak, no arms. It can walk and kick. The ball is on the floor. The robot needs to search for the ball, walk to it, and kick. \n\nThe robot's datasheet says it can't carry or push anything, but the task doesn't require carrying. The kick verb is available, and the robot can move towards the ball. The assess_task function needs a verdict.\n\nI need to check if the robot's limitations prevent this task. The robot can't climb stairs, but the task is on a flat floor. The manipulator is a beak, which isn't needed here since the kick is used. The main needs are mobility and the ability to kick. \n\nThe task requires the robot to move (legged mobility), which is feasible. The payload isn't an issue here. The reach isn't specified, but the walk_to function handles approaching the ball. \n\nSo, the verdict is feasible. The robot can perform the task as per its capabilities. I'll call assess_task with feasible.", "latency_s": 33.975, "usage_total": {"input_tokens": 7699, "output_tokens": 565, "reasoning_tokens": 0}, "llm_calls": 2} +{"t": 58.375, "kind": "assess", "step": 0, "ok": true, "summary": "recorded feasible: The task requires legged mobility to approach and kick the ball, which aligns with the robot's design. The robot's beak isn't needed for manipulation here, and the ball displacement criterion can be met via the kick action. No payload or payload-related limits are required.; verbs that move the body now run", "ends_run": false, "verdict": "feasible", "reason": "The task requires legged mobility to approach and kick the ball, which aligns with the robot's design. The robot's beak isn't needed for manipulation here, and the ball displacement criterion can be met via the kick action. No payload or payload-related limits are required.", "limits_consulted": ["mobility", "manipulator"], "estimates": [], "needs": {"mobility": "legged", "manipulator": "beak"}, "human": null} +{"t": 58.375, "kind": "frame", "path": "frames\\0002.png", "caption": "step 0: assess_task"} +{"t": 58.375, "kind": "observation", "step": 0, "text": "[step 0/40 · step 0/40, llm calls 2/40, 0.0/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.01, 0.27, -2.24 rad)\ncamera: nothing detected\nlast verb `assess_task`: ok — recorded feasible: The task requires legged mobility to approach and kick the ball, which aligns with the robot's design. The robot's beak isn't needed for manipulation here, and the ball displacement criterion can be met via the kick action. No payload or payload-related limits are required.; verbs that move the body now run\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 0.0, "x": 0.00709297482015403, "y": 0.2702782177955612, "theta": -2.2358110930610913, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 100.0, "holding": false, "extras": {"sim_time": 0.0, "ball": {"x": 0.673, "y": -0.282, "present": true}, "ball_displacement_m": 0.0, "last_kick_ball_moved_m": null, "kicks": 0, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [], "last_result": {"verb": "assess_task", "ok": true, "summary": "recorded feasible: The task requires legged mobility to approach and kick the ball, which aligns with the robot's design. The robot's beak isn't needed for manipulation here, and the ball displacement criterion can be met via the kick action. No payload or payload-related limits are required.; verbs that move the body now run", "data": {}}, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.003} +{"t": 58.375, "kind": "llm_request", "step": 0, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 3, "images": 0, "reprompt": false} +{"t": 85.75, "kind": "llm", "step": 0, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-8443ef8b5153a492", "name": "search_scan", "arguments": {"target": "ball", "step_deg": 45.0, "max_steps": 8}, "signature": ""}], "usage": {"input_tokens": 4218, "output_tokens": 297, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": "Okay, so the robot needs to find and kick a ball. Let's start by figuring out where the ball is. The first step is to use the search_scan function. Since the robot is in a 2D simulator, rotating in steps makes sense. The default parameters for search_scan are target: \"ball\", step_deg: 45, and max_steps: 8. Using these defaults should cover a full 360-degree rotation (8 steps of 45 degrees each). If the ball is detected during this scan, the function will return its position. If not, the robot might need to adjust its strategy.\n\nWait, but the previous attempt to call search_scan failed because the assess_task wasn't done first. Now that assess_task has been called and the task is deemed feasible, the next step is to proceed with search_scan. The robot's current state shows no detections, so starting the scan is appropriate. Let's execute search_scan with the default parameters. If the ball is found, the next step will be to walk towards it. If not, the robot might need to try again or adjust the scan parameters, but since the task is feasible, it's likely the ball is present in the environment. Let's proceed with the scan.", "latency_s": 27.367, "usage_total": {"input_tokens": 11917, "output_tokens": 862, "reasoning_tokens": 0}, "llm_calls": 3} +{"t": 85.75, "kind": "verb_start", "name": "search_scan", "canonical": "search_scan", "params": {"target": "ball", "step_deg": 45.0, "max_steps": 8}, "source": "agent", "nested": false} +{"t": 85.75, "kind": "intent", "intent": "look", "params": {"x": 1.0, "y": 0.0, "z": 0.0}, "accepted": true, "reason": null, "robot_t": 0.0} +{"t": 85.75, "kind": "frame", "path": "frames\\0003.png", "caption": "search_scan 0"} +{"t": 85.75, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.0} +{"t": 85.75, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.1} +{"t": 85.75, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.2} +{"t": 85.75, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.3} +{"t": 85.75, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.39999999999999997} +{"t": 85.75, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.49999999999999994} +{"t": 85.75, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.6} +{"t": 85.75, "kind": "intent", "intent": "move", "params": {"vx": 0.0, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.7000000000000001} +{"t": 85.75, "kind": "intent", "intent": "stop", "params": {}, "accepted": true, "reason": null, "robot_t": 0.8000000000000002} +{"t": 85.75, "kind": "frame", "path": "frames\\0004.png", "caption": "search_scan 1"} +{"t": 85.765, "kind": "verb_end", "name": "search_scan", "canonical": "search_scan", "ok": true, "outcome": "ok", "summary": "ball found: ball at bearing 43° left ~0.85 m (after 1 turn steps)", "data_keys": ["detections", "steps"], "elapsed_s": 0.012, "intents": {"look": 1, "move": 8, "stop": 1}, "source": "agent", "nested": false, "transport_s": 0.9, "clock": "sim"} +{"t": 85.765, "kind": "verb", "step": 1, "name": "search_scan", "canonical": "search_scan", "params": {"target": "ball", "step_deg": 45.0, "max_steps": 8}, "ok": true, "summary": "ball found: ball at bearing 43° left ~0.85 m (after 1 turn steps)", "data": {"detections": [{"label": "ball", "cx": 0.03515625, "cy": 0.53515625, "area": 0.0027008056640625, "confidence": 0.9425, "bearing_deg": 42.9, "est_distance_m": 0.853, "calibrated": true}], "steps": 1}} +{"t": 85.765, "kind": "frame", "path": "frames\\0005.png", "caption": "step 1: search_scan"} +{"t": 85.765, "kind": "observation", "step": 1, "text": "[step 1/40 · step 1/40, llm calls 3/40, 0.0/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.01, 0.27, -1.44 rad)\ncamera: ball at bearing 43° left ~0.85 m\nlast verb `search_scan`: ok — ball found: ball at bearing 43° left ~0.85 m (after 1 turn steps)\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 0.9000000000000002, "x": 0.00709297482015403, "y": 0.2702782177955612, "theta": -1.4415204070230319, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 99.982, "holding": false, "extras": {"sim_time": 0.9, "ball": {"x": 0.673, "y": -0.282, "present": true}, "ball_displacement_m": 0.0, "last_kick_ball_moved_m": null, "kicks": 0, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [{"label": "ball", "cx": 0.03515625, "cy": 0.53515625, "area": 0.0027008056640625, "confidence": 0.9425, "bearing_deg": 42.9, "est_distance_m": 0.853, "calibrated": true}], "last_result": {"verb": "search_scan", "ok": true, "summary": "ball found: ball at bearing 43° left ~0.85 m (after 1 turn steps)", "data": {"detections": [{"label": "ball", "cx": 0.03515625, "cy": 0.53515625, "area": 0.0027008056640625, "confidence": 0.9425, "bearing_deg": 42.9, "est_distance_m": 0.853, "calibrated": true}], "steps": 1}}, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.003} +{"t": 85.765, "kind": "llm_request", "step": 1, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 4, "images": 0, "reprompt": false} +{"t": 109.953, "kind": "llm", "step": 1, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-9d1a3728dbded753", "name": "walk_to", "arguments": {"target": "ball", "stop_distance": 0.25, "timeout_s": 20.0}, "signature": ""}], "usage": {"input_tokens": 4387, "output_tokens": 263, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": "Okay, so the robot needs to find and kick a ball. Let's see what's happening here. The user is controlling a duck robot with specific tools. The previous steps show that the robot did a search_scan and found the ball at 43° left, 0.85 meters away. Now, the next logical step is to walk towards the ball. The walk_to function is designed to move the robot to a target, stopping at a certain distance. Since the ball is detected, the robot should use walk_to with the target as \"ball\" and the stop_distance set to 0.25 meters, which is the default and appropriate for the kick. The timeout is set to 20 seconds, but since the distance isn't too far, it should take less. Once in position, the robot can kick. No need for additional scans or stops here. Just walk to the ball, kick, and check the result. If the kick doesn't displace the ball enough, they can try again. But for now, walk_to is the right move.", "latency_s": 24.183, "usage_total": {"input_tokens": 16304, "output_tokens": 1125, "reasoning_tokens": 0}, "llm_calls": 4} +{"t": 109.953, "kind": "verb_start", "name": "walk_to", "canonical": "go_to", "params": {"target": "ball", "stop_distance": 0.25, "timeout_s": 20.0}, "source": "agent", "nested": false} +{"t": 109.953, "kind": "intent", "intent": "look", "params": {"x": 1.0, "y": 0.0, "z": 0.0}, "accepted": true, "reason": null, "robot_t": 0.9000000000000002} +{"t": 109.953, "kind": "frame", "path": "frames\\0006.png", "caption": "go_to ball"} +{"t": 109.953, "kind": "intent", "intent": "move", "params": {"vx": 0.05, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 0.9000000000000002} +{"t": 109.953, "kind": "frame", "path": "frames\\0007.png", "caption": "go_to ball"} +{"t": 109.953, "kind": "intent", "intent": "move", "params": {"vx": 0.05, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 1.0000000000000002} +{"t": 109.953, "kind": "frame", "path": "frames\\0008.png", "caption": "go_to ball"} +{"t": 109.953, "kind": "intent", "intent": "move", "params": {"vx": 0.05, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 1.1000000000000003} +{"t": 109.968, "kind": "frame", "path": "frames\\0009.png", "caption": "go_to ball"} +{"t": 109.968, "kind": "intent", "intent": "move", "params": {"vx": 0.05, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 1.2000000000000004} +{"t": 109.968, "kind": "frame", "path": "frames\\0010.png", "caption": "go_to ball"} +{"t": 109.968, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 1.0}, "accepted": true, "reason": null, "robot_t": 1.3000000000000005} +{"t": 109.968, "kind": "frame", "path": "frames\\0011.png", "caption": "go_to ball"} +{"t": 109.968, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.7650000000000001}, "accepted": true, "reason": null, "robot_t": 1.4000000000000006} +{"t": 109.968, "kind": "frame", "path": "frames\\0012.png", "caption": "go_to ball"} +{"t": 109.968, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.555}, "accepted": true, "reason": null, "robot_t": 1.5000000000000007} +{"t": 109.968, "kind": "frame", "path": "frames\\0013.png", "caption": "go_to ball"} +{"t": 109.984, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.41}, "accepted": true, "reason": null, "robot_t": 1.6000000000000008} +{"t": 109.984, "kind": "frame", "path": "frames\\0014.png", "caption": "go_to ball"} +{"t": 109.984, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.29}, "accepted": true, "reason": null, "robot_t": 1.7000000000000008} +{"t": 109.984, "kind": "frame", "path": "frames\\0015.png", "caption": "go_to ball"} +{"t": 109.984, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.225}, "accepted": true, "reason": null, "robot_t": 1.800000000000001} +{"t": 109.984, "kind": "frame", "path": "frames\\0016.png", "caption": "go_to ball"} +{"t": 109.984, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.15500000000000003}, "accepted": true, "reason": null, "robot_t": 1.900000000000001} +{"t": 109.984, "kind": "frame", "path": "frames\\0017.png", "caption": "go_to ball"} +{"t": 109.984, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.125}, "accepted": true, "reason": null, "robot_t": 2.000000000000001} +{"t": 109.984, "kind": "frame", "path": "frames\\0018.png", "caption": "go_to ball"} +{"t": 109.984, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.09000000000000001}, "accepted": true, "reason": null, "robot_t": 2.1000000000000005} +{"t": 109.984, "kind": "frame", "path": "frames\\0019.png", "caption": "go_to ball"} +{"t": 110.0, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.065}, "accepted": true, "reason": null, "robot_t": 2.2} +{"t": 110.0, "kind": "frame", "path": "frames\\0020.png", "caption": "go_to ball"} +{"t": 110.0, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.045000000000000005}, "accepted": true, "reason": null, "robot_t": 2.3} +{"t": 110.0, "kind": "frame", "path": "frames\\0021.png", "caption": "go_to ball"} +{"t": 110.0, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.034999999999999996}, "accepted": true, "reason": null, "robot_t": 2.3999999999999995} +{"t": 110.0, "kind": "frame", "path": "frames\\0022.png", "caption": "go_to ball"} +{"t": 110.0, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.020000000000000004}, "accepted": true, "reason": null, "robot_t": 2.499999999999999} +{"t": 110.0, "kind": "frame", "path": "frames\\0023.png", "caption": "go_to ball"} +{"t": 110.0, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.020000000000000004}, "accepted": true, "reason": null, "robot_t": 2.5999999999999988} +{"t": 110.0, "kind": "frame", "path": "frames\\0024.png", "caption": "go_to ball"} +{"t": 110.0, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.010000000000000002}, "accepted": true, "reason": null, "robot_t": 2.6999999999999984} +{"t": 110.0, "kind": "frame", "path": "frames\\0025.png", "caption": "go_to ball"} +{"t": 110.015, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.010000000000000002}, "accepted": true, "reason": null, "robot_t": 2.799999999999998} +{"t": 110.015, "kind": "frame", "path": "frames\\0026.png", "caption": "go_to ball"} +{"t": 110.015, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.010000000000000002}, "accepted": true, "reason": null, "robot_t": 2.8999999999999977} +{"t": 110.015, "kind": "frame", "path": "frames\\0027.png", "caption": "go_to ball"} +{"t": 110.015, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 2.9999999999999973} +{"t": 110.015, "kind": "frame", "path": "frames\\0028.png", "caption": "go_to ball"} +{"t": 110.015, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.010000000000000002}, "accepted": true, "reason": null, "robot_t": 3.099999999999997} +{"t": 110.015, "kind": "frame", "path": "frames\\0029.png", "caption": "go_to ball"} +{"t": 110.015, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.1999999999999966} +{"t": 110.015, "kind": "frame", "path": "frames\\0030.png", "caption": "go_to ball"} +{"t": 110.015, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.2999999999999963} +{"t": 110.015, "kind": "frame", "path": "frames\\0031.png", "caption": "go_to ball"} +{"t": 110.031, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.399999999999996} +{"t": 110.031, "kind": "frame", "path": "frames\\0032.png", "caption": "go_to ball"} +{"t": 110.031, "kind": "intent", "intent": "move", "params": {"vx": 0.2, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.4999999999999956} +{"t": 110.031, "kind": "frame", "path": "frames\\0033.png", "caption": "go_to ball"} +{"t": 110.031, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.599999999999995} +{"t": 110.031, "kind": "frame", "path": "frames\\0034.png", "caption": "go_to ball"} +{"t": 110.031, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.699999999999995} +{"t": 110.031, "kind": "frame", "path": "frames\\0035.png", "caption": "go_to ball"} +{"t": 110.031, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.010000000000000002}, "accepted": true, "reason": null, "robot_t": 3.7999999999999945} +{"t": 110.031, "kind": "frame", "path": "frames\\0036.png", "caption": "go_to ball"} +{"t": 110.031, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.899999999999994} +{"t": 110.031, "kind": "frame", "path": "frames\\0037.png", "caption": "go_to ball"} +{"t": 110.046, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 3.999999999999994} +{"t": 110.046, "kind": "frame", "path": "frames\\0038.png", "caption": "go_to ball"} +{"t": 110.046, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.099999999999993} +{"t": 110.046, "kind": "frame", "path": "frames\\0039.png", "caption": "go_to ball"} +{"t": 110.046, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.199999999999993} +{"t": 110.046, "kind": "frame", "path": "frames\\0040.png", "caption": "go_to ball"} +{"t": 110.046, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.299999999999993} +{"t": 110.046, "kind": "frame", "path": "frames\\0041.png", "caption": "go_to ball"} +{"t": 110.046, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.399999999999992} +{"t": 110.046, "kind": "frame", "path": "frames\\0042.png", "caption": "go_to ball"} +{"t": 110.046, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.499999999999992} +{"t": 110.046, "kind": "frame", "path": "frames\\0043.png", "caption": "go_to ball"} +{"t": 110.062, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.599999999999992} +{"t": 110.062, "kind": "frame", "path": "frames\\0044.png", "caption": "go_to ball"} +{"t": 110.062, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.699999999999991} +{"t": 110.062, "kind": "frame", "path": "frames\\0045.png", "caption": "go_to ball"} +{"t": 110.062, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.799999999999991} +{"t": 110.062, "kind": "frame", "path": "frames\\0046.png", "caption": "go_to ball"} +{"t": 110.062, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.899999999999991} +{"t": 110.062, "kind": "frame", "path": "frames\\0047.png", "caption": "go_to ball"} +{"t": 110.062, "kind": "intent", "intent": "move", "params": {"vx": 0.1, "vy": 0.0, "wz": 0.0}, "accepted": true, "reason": null, "robot_t": 4.99999999999999} +{"t": 110.062, "kind": "frame", "path": "frames\\0048.png", "caption": "go_to ball"} +{"t": 110.062, "kind": "intent", "intent": "stop", "params": {}, "accepted": true, "reason": null, "robot_t": 5.09999999999999} +{"t": 110.078, "kind": "verb_end", "name": "walk_to", "canonical": "go_to", "ok": true, "outcome": "ok", "summary": "reached the ball: ~0.24 m away, bearing +0°", "data_keys": ["distance_m", "bearing_deg", "ticks"], "elapsed_s": 0.122, "intents": {"look": 1, "move": 42, "stop": 1}, "source": "agent", "nested": false, "transport_s": 4.3, "clock": "sim"} +{"t": 110.078, "kind": "verb", "step": 2, "name": "walk_to", "canonical": "go_to", "params": {"target": "ball", "stop_distance": 0.25, "timeout_s": 20.0}, "ok": true, "summary": "reached the ball: ~0.24 m away, bearing +0°", "data": {"distance_m": 0.244, "bearing_deg": 0.0, "ticks": 43}} +{"t": 110.078, "kind": "frame", "path": "frames\\0049.png", "caption": "step 2: walk_to"} +{"t": 110.078, "kind": "observation", "step": 2, "text": "[step 2/40 · step 2/40, llm calls 4/40, 0.1/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.48, -0.13, -0.65 rad)\ncamera: ball dead ahead ~0.24 m\nlast verb `walk_to`: ok — reached the ball: ~0.24 m away, bearing +0°\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 5.1999999999999895, "x": 0.4788148597541222, "y": -0.1335084474485532, "theta": -0.6542132442061208, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 99.896, "holding": false, "extras": {"sim_time": 5.2, "ball": {"x": 0.673, "y": -0.282, "present": true}, "ball_displacement_m": 0.0, "last_kick_ball_moved_m": null, "kicks": 0, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [{"label": "ball", "cx": 0.5, "cy": 0.755859375, "area": 0.033111572265625, "confidence": 1.0, "bearing_deg": -0.0, "est_distance_m": 0.244, "calibrated": true}], "last_result": {"verb": "walk_to", "ok": true, "summary": "reached the ball: ~0.24 m away, bearing +0°", "data": {"distance_m": 0.244, "bearing_deg": 0.0, "ticks": 43}}, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.003} +{"t": 110.078, "kind": "llm_request", "step": 2, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 5, "images": 0, "reprompt": false} +{"t": 125.984, "kind": "llm", "step": 2, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-87c0cdca9eb1d281", "name": "kick", "arguments": {"leg": "right"}, "signature": ""}], "usage": {"input_tokens": 4547, "output_tokens": 172, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": "Okay, so the robot has found the ball and walked up to it, stopping about 0.24 meters away. Now the next step is to kick the ball. The kick command needs to be called here. Let me check the parameters for the kick function. The function allows specifying which leg to use, with options for left or right. The default is the right leg. Since the robot is facing the ball directly, either leg should work, but using the right leg as default makes sense. I'll call the kick function with the right leg. The result of the kick will tell if the ball was displaced enough. If not, I might need to reposition and try again. But for now, let's execute the kick.", "latency_s": 15.905, "usage_total": {"input_tokens": 20851, "output_tokens": 1297, "reasoning_tokens": 0}, "llm_calls": 5} +{"t": 125.984, "kind": "verb_start", "name": "kick", "canonical": "kick", "params": {"leg": "right"}, "source": "agent", "nested": false} +{"t": 125.984, "kind": "intent", "intent": "do", "params": {"skill": "kick_right"}, "accepted": true, "reason": null, "robot_t": 5.1999999999999895} +{"t": 125.984, "kind": "verb_end", "name": "kick", "canonical": "kick", "ok": true, "outcome": "ok", "summary": "kicked with right leg, ball moved 0.35 m", "data_keys": ["ball_moved_m"], "elapsed_s": 0.004, "intents": {"do": 1}, "source": "agent", "nested": false, "transport_s": 1.5, "clock": "sim"} +{"t": 125.984, "kind": "verb", "step": 3, "name": "kick", "canonical": "kick", "params": {"leg": "right"}, "ok": true, "summary": "kicked with right leg, ball moved 0.35 m", "data": {"ball_moved_m": 0.352}} +{"t": 125.984, "kind": "frame", "path": "frames\\0050.png", "caption": "step 3: kick"} +{"t": 125.984, "kind": "observation", "step": 3, "text": "[step 3/40 · step 3/40, llm calls 5/40, 0.1/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.48, -0.13, -0.65 rad)\ncamera: ball at bearing 13° right ~0.58 m\nlast verb `kick`: ok — kicked with right leg, ball moved 0.35 m\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 6.699999999999984, "x": 0.4788148597541222, "y": -0.1335084474485532, "theta": -0.6542132442061208, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 99.866, "holding": false, "extras": {"sim_time": 6.7, "ball": {"x": 0.855, "y": -0.584, "present": true}, "ball_displacement_m": 0.352, "last_kick_ball_moved_m": 0.352, "kicks": 1, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [{"label": "ball", "cx": 0.611328125, "cy": 0.576171875, "area": 0.00579833984375, "confidence": 1.0, "bearing_deg": -12.6, "est_distance_m": 0.582, "calibrated": true}], "last_result": {"verb": "kick", "ok": true, "summary": "kicked with right leg, ball moved 0.35 m", "data": {"ball_moved_m": 0.352}}, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.003} +{"t": 125.984, "kind": "llm_request", "step": 3, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 6, "images": 0, "reprompt": false} +{"t": 163.125, "kind": "llm", "step": 3, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-bf79c13f0775e578", "name": "remember", "arguments": {"text": "The ball was found at 43° left, ~0.85 m during initial scan.", "tags": ["object", "position"]}, "signature": ""}], "usage": {"input_tokens": 4687, "output_tokens": 402, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": "Okay, let me see. The robot just kicked the ball, and the response says the ball moved 0.35 meters. The success criteria are that the ball needs to be displaced more than 0.3 meters. Since 0.35 is more than 0.3, that means the task is successful. \n\nNow, according to the strategy, I should verify if the ball has moved enough. The kick result already tells me it moved 0.35m, which meets the criteria. So I don't need to do another walk_to or kick. \n\nNext, I need to remember where the ball was found. The initial scan detected it at 43° left, 0.85m away. The note from earlier runs mentions saving that info, so I should call the remember function with that detail.\n\nThen, quack once to celebrate success. The example uses 'wheee' for the quack text. Finally, declare success using declare_success with the reason being the ball displacement.\n\nWait, the user instructions say to call `remember` before declaring success. Let me make sure I do that first. The remember function should note the ball's initial position. Then quack, then declare success. Each of these is a separate tool call. But the current step count is at 3/40, so I have enough steps left.\n\nSo the next steps are:\n1. Call remember with the ball's location.\n2. Call quack with 'wheee'.\n3. Call declare_success with the reason about displacement.\n\nBut the user requires exactly one tool per turn. So I need to do them one at a time. Let's start with the remember function first.", "latency_s": 37.136, "usage_total": {"input_tokens": 25538, "output_tokens": 1699, "reasoning_tokens": 0}, "llm_calls": 6} +{"t": 163.125, "kind": "note", "text": "remembered: The ball was found at 43° left, ~0.85 m during initial scan."} +{"t": 163.125, "kind": "memory", "step": 3, "ok": true, "text": "The ball was found at 43° left, ~0.85 m during initial scan.", "summary": "remembered for future runs: The ball was found at 43° left, ~0.85 m during initial scan."} +{"t": 163.125, "kind": "frame", "path": "frames\\0051.png", "caption": "step 3: remember"} +{"t": 163.14, "kind": "observation", "step": 3, "text": "[step 3/40 · step 3/40, llm calls 6/40, 0.1/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.48, -0.13, -0.65 rad)\ncamera: ball at bearing 13° right ~0.58 m\nlast verb `remember`: ok — remembered for future runs: The ball was found at 43° left, ~0.85 m during initial scan.\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 6.699999999999984, "x": 0.4788148597541222, "y": -0.1335084474485532, "theta": -0.6542132442061208, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 99.866, "holding": false, "extras": {"sim_time": 6.7, "ball": {"x": 0.855, "y": -0.584, "present": true}, "ball_displacement_m": 0.352, "last_kick_ball_moved_m": 0.352, "kicks": 1, "quacks": 0, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [{"label": "ball", "cx": 0.611328125, "cy": 0.576171875, "area": 0.00579833984375, "confidence": 1.0, "bearing_deg": -12.6, "est_distance_m": 0.582, "calibrated": true}], "last_result": {"verb": "remember", "ok": true, "summary": "remembered for future runs: The ball was found at 43° left, ~0.85 m during initial scan.", "data": {"notes": 2}}, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.003} +{"t": 163.14, "kind": "llm_request", "step": 3, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 7, "images": 0, "reprompt": false} +{"t": 178.609, "kind": "llm", "step": 3, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-a3ecf81e00342c9d", "name": "quack", "arguments": {"text": "wheee"}, "signature": ""}], "usage": {"input_tokens": 4868, "output_tokens": 165, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": "Okay, let me see. The robot has already found the ball, walked to it, and kicked it. The kick result says the ball moved 0.35 meters, which is more than the required 0.3 meters. So according to the success criteria, the task is done. The next step should be to declare success. The user instructions mention to quack once when successful, so I should call the quack function. Then, declare success with the reason that the ball was displaced more than 0.3 meters. Let me check if there's anything else needed. The memory has already been updated, so no need for that. Just quack and declare success.", "latency_s": 15.483, "usage_total": {"input_tokens": 30406, "output_tokens": 1864, "reasoning_tokens": 0}, "llm_calls": 7} +{"t": 178.625, "kind": "verb_start", "name": "quack", "canonical": "quack", "params": {"text": "wheee"}, "source": "agent", "nested": false} +{"t": 178.625, "kind": "intent", "intent": "sound", "params": {"tag": "wheee", "text": "wheee"}, "accepted": true, "reason": null, "robot_t": 6.699999999999984} +{"t": 178.625, "kind": "verb_end", "name": "quack", "canonical": "quack", "ok": true, "outcome": "ok", "summary": "quacked [wheee] ('wheee')", "data_keys": ["tag", "text"], "elapsed_s": 0.0, "intents": {"sound": 1}, "source": "agent", "nested": false, "transport_s": 0.0, "clock": "sim"} +{"t": 178.625, "kind": "verb", "step": 4, "name": "quack", "canonical": "quack", "params": {"text": "wheee"}, "ok": true, "summary": "quacked [wheee] ('wheee')", "data": {"tag": "wheee", "text": "wheee"}} +{"t": 178.625, "kind": "frame", "path": "frames\\0052.png", "caption": "step 4: quack"} +{"t": 178.625, "kind": "observation", "step": 4, "text": "[step 4/40 · step 4/40, llm calls 7/40, 0.1/5 min]\nstate: posture=standing policy=stand battery=100% pose=(0.48, -0.13, -0.65 rad)\ncamera: ball at bearing 13° right ~0.58 m\nlast verb `quack`: ok — quacked [wheee] ('wheee')\nChoose exactly one tool.", "has_image": false, "features": {"state": {"t": 6.699999999999984, "x": 0.4788148597541222, "y": -0.1335084474485532, "theta": -0.6542132442061208, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 99.866, "holding": false, "extras": {"sim_time": 6.7, "ball": {"x": 0.855, "y": -0.584, "present": true}, "ball_displacement_m": 0.352, "last_kick_ball_moved_m": 0.352, "kicks": 1, "quacks": 1, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "detections": [{"label": "ball", "cx": 0.611328125, "cy": 0.576171875, "area": 0.00579833984375, "confidence": 1.0, "bearing_deg": -12.6, "est_distance_m": 0.582, "calibrated": true}], "last_result": {"verb": "quack", "ok": true, "summary": "quacked [wheee] ('wheee')", "data": {"tag": "wheee", "text": "wheee"}}, "allowed": ["search_scan", "walk_to", "kick", "quack", "get_frame", "stop"]}, "elapsed_s": 0.003} +{"t": 178.625, "kind": "llm_request", "step": 4, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "messages": 8, "images": 0, "reprompt": false} +{"t": 195.906, "kind": "llm", "step": 4, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "text": null, "tool_calls": [{"id": "chatcmpl-tool-9078df20e70fa5c8", "name": "declare_success", "arguments": {"reason": "Ball displaced more than 0.3 m in simulation (0.35 m)"}, "signature": ""}], "usage": {"input_tokens": 5010, "output_tokens": 185, "reasoning_tokens": 0}, "stop_reason": "tool_calls", "thinking": "Okay, let's see. The robot has already found the ball, walked up to it, kicked it, and the ball moved 0.35 meters, which is more than the required 0.3 meters. The success criteria are met. Now, according to the strategy, I need to declare success. The user's previous steps show that after the kick, they called 'remember' and then 'quack'. Now, the next step should be to call 'declare_success' with the reason that the ball was displaced more than 0.3 meters. The kick result already confirms that, so I don't need to check anything else. Just need to make sure the correct function is called here.", "latency_s": 17.289, "usage_total": {"input_tokens": 35416, "output_tokens": 2049, "reasoning_tokens": 0}, "llm_calls": 8} +{"t": 195.906, "kind": "declare", "step": 4, "outcome": "success", "reason": "Ball displaced more than 0.3 m in simulation (0.35 m)"} +{"t": 195.906, "kind": "intent", "intent": "stop", "params": {}, "accepted": true, "reason": null, "robot_t": 6.699999999999984} +{"t": 195.906, "kind": "run_end", "duck": "find-and-kick", "outcome": "success", "reason": "Ball displaced more than 0.3 m in simulation (0.35 m)", "steps": 4, "llm_calls": 8, "elapsed_s": 6.7, "usage": {"input_tokens": 35416, "output_tokens": 2049, "reasoning_tokens": 0}, "provider": "local", "model": "Qwen/Qwen3-32B-AWQ", "transport": "sim2d", "robot": "microduck", "dry_run": false, "final_state": {"t": 6.699999999999984, "x": 0.4788148597541222, "y": -0.1335084474485532, "theta": -0.6542132442061208, "policy": "stand", "posture": "standing", "fallen": false, "battery_percent": 99.866, "holding": false, "extras": {"sim_time": 6.7, "ball": {"x": 0.855, "y": -0.584, "present": true}, "ball_displacement_m": 0.352, "last_kick_ball_moved_m": 0.352, "kicks": 1, "quacks": 1, "head_yaw_deg": 0.0, "people": [{"x": -0.756, "y": 0.406}]}}, "trace_dropped": 0} diff --git a/docs/local-llms.md b/docs/local-llms.md index cc9a98c..71a9df5 100644 --- a/docs/local-llms.md +++ b/docs/local-llms.md @@ -194,6 +194,36 @@ What the page has and has not been run against is in [web/README.md](../web/READ | [`…seed6-memory-read.jsonl`](assets/transcripts/qwen2.5-coder-14b-lmstudio-find-and-kick-seed6-memory-read.jsonl) | 6 | success | 8 | 9 | 29,403 + 244 | 0 | the system prompt carries an earlier run's episode under *What you remember*; the model never calls `remember`; two kicks fall short before the third connects | | [`…seed5-remember.jsonl`](assets/transcripts/qwen2.5-coder-14b-lmstudio-find-and-kick-seed5-remember.jsonl) | 5 | success | 4 | 6 | 17,939 + 265 | 0 | the `.duck` body now says `remember` in strategy step 5; after the kick the model returns `remember`, `quack` and `declare_success` in one response, the loop keeps the first (a fact from the verb results) and marks `multiple_tool_calls`, and the other two arrive one per turn after | + Two more arrived on 2026-09-14, from the contributor who asked for `--extra-body`, and + they are a pair rather than a sample: the same build (`739ff84`), the same seed, the same + server, one variable. **Qwen3-32B-AWQ on vLLM 0.27.2.dev**, on an NVIDIA GB10, which is + `aarch64` and not a machine this project has ever run on. + + | transcript | seed | outcome | steps | LLM calls | tokens in + out | text fallbacks | what it shows | + |---|---|---|---|---|---|---|---| + | [`…seed1-thinking-on.jsonl`](assets/transcripts/qwen3-32b-awq-vllm-find-and-kick-seed1-thinking-on.jsonl) | 1 | success | 4 | 8 | 35,416 + 2,049 | 0 | Qwen3 with its factory default: every one of the eight calls opens with visible deliberation, 165 to 402 output tokens each | + | [`…seed1-thinking-off.jsonl`](assets/transcripts/qwen3-32b-awq-vllm-find-and-kick-seed1-thinking-off.jsonl) | 1 | success | 3 | 5 | 21,802 + 263 | 0 | the same run with `--extra-body '{"chat_template_kwargs": {"enable_thinking": false}}'`: no deliberation anywhere, 19 to 130 output tokens a call | + + **They did not do the same work, so read the per-call numbers and not the totals.** The + thinking run took four steps and spent two of them on `remember` and `quack`; the quiet + one took three and went from the kick to the declaration. Part of 2,049 → 263 is a shorter + path. What the path cannot explain is 165 to 402 tokens a call becoming 19 to 130. + + The first call stays expensive either way: 130 tokens and 16.0 s with thinking off, against + 19 to 40 tokens and 1.9 to 3.9 s for every call after it. Whatever that is, it is not + deliberation, because the quiet transcript contains none. + + `reasoning_tokens` reads 0 in both, and that is a property of the server rather than the + model: without `--reasoning-parser` vLLM leaves the thinking inside `content`, where it is + billed as output. Output tokens is therefore the honest column here, and a run that reports + no reasoning tokens is not a run that did no reasoning. + + The simulator clock says 6.7 s for both, because the robot did the same thing at the same + speed; the transcript timestamps say 195.9 s and 29.6 s of wall clock. On this server the + same result is available at serve time, with `--reasoning-parser qwen3` beside + `--default-chat-template-kwargs '{"enable_thinking": false}'`, and that is the better answer + for a box you own. The flag is what you have on one you do not. + These two are not a chain, and nothing here should be read as one: they ran against different memory directories (`memory-qwen3` and `memory-qwen2`), seed 5 started from an empty memory block, and the episode seed 6 remembers was written by a run that is not in