Aditharavind/swarm-laya-vision
Robotics • Updated
Datasets:
state stringlengths 409 422 | questions stringclasses 1
value | gold stringlengths 229 240 |
|---|---|---|
{"battery_percent": 77.8, "distance_to_base": 3.97, "distance_to_target": 12.17, "heading_to_target_deg": 34.7, "nearest_obstacle": {"clearance_m": 0.84, "radius_m": 0.85}, "nearest_teammate": {"battery_percent": 1.4, "distance_m": 10.18, "radio_link_degraded": false}, "position": [-3.7, 1.44], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6871014422953132, "hold_position": 0.29095864672997696, "move_to_target": 0.013771021043742905, "request_swarm_help": 0.0053290935050610356, "return_to_base": 0.002839796425905878}}} |
{"battery_percent": 1.4, "distance_to_base": 15.14, "distance_to_target": 11.29, "heading_to_target_deg": 90.72, "nearest_obstacle": {"clearance_m": 2.96, "radius_m": 0.43}, "nearest_teammate": {"battery_percent": 40.3, "distance_m": 1.66, "radio_link_degraded": false}, "position": [-5.0, -6.17], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.004629992748315361, "hold_position": 0.03421127615494429, "move_to_target": 0.030074564837706017, "request_swarm_help": 0.0033175347718975446, "return_to_base": 0.9277666314871368}}} |
{"battery_percent": 66.3, "distance_to_base": 9.13, "distance_to_target": 16.43, "heading_to_target_deg": 144.76, "nearest_obstacle": {"clearance_m": 1.38, "radius_m": 0.44}, "nearest_teammate": {"battery_percent": 11.9, "distance_m": 4.93, "radio_link_degraded": false}, "position": [8.27, -3.86], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.041150427174531296, "hold_position": 0.304062814887572, "move_to_target": 0.6062908310089922, "request_swarm_help": 0.029485569514038173, "return_to_base": 0.01901035741486651}}} |
{"battery_percent": 13.0, "distance_to_base": 5.0, "distance_to_target": 11.3, "heading_to_target_deg": -19.51, "nearest_obstacle": {"clearance_m": 1.36, "radius_m": 0.74}, "nearest_teammate": {"battery_percent": 48.6, "distance_m": 4.84, "radio_link_degraded": false}, "position": [-5.67, 0.76], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.009878860765776426, "hold_position": 0.07299545639184699, "move_to_target": 0.06411452465866227, "request_swarm_help": 0.007078513051477766, "return_to_base": 0.8459326451322365}}} |
{"battery_percent": 29.3, "distance_to_base": 4.97, "distance_to_target": 9.25, "heading_to_target_deg": 177.76, "nearest_obstacle": {"clearance_m": 2.37, "radius_m": 1.12}, "nearest_teammate": {"battery_percent": 17.6, "distance_m": 3.48, "radio_link_degraded": false}, "position": [1.91, 3.68], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.00974334540216617, "hold_position": 0.07199412576786382, "move_to_target": 0.17850383453593835, "request_swarm_help": 0.731411721016358, "return_to_base": 0.008346973277673702}}} |
{"battery_percent": 84.9, "distance_to_base": 4.87, "distance_to_target": 0.71, "heading_to_target_deg": -51.8, "nearest_obstacle": {"clearance_m": 2.32, "radius_m": 1.2}, "nearest_teammate": {"battery_percent": 31.5, "distance_m": 0.83, "radio_link_degraded": false}, "position": [-2.81, -3.99], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6682465607479191, "hold_position": 0.28212732296002724, "move_to_target": 0.042015858571626784, "request_swarm_help": 0.005167342167981142, "return_to_base": 0.0024429155524457727}}} |
{"battery_percent": 20.4, "distance_to_base": 2.58, "distance_to_target": 4.11, "heading_to_target_deg": 40.86, "nearest_obstacle": {"clearance_m": 2.74, "radius_m": 0.54}, "nearest_teammate": {"battery_percent": 15.7, "distance_m": 0.94, "radio_link_degraded": false}, "position": [-3.4, -3.42], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.44806701908638136, "hold_position": 0.036400731954688674, "move_to_target": 0.033665192500335304, "request_swarm_help": 0.47697682764222565, "return_to_base": 0.004890228816368913}}} |
{"battery_percent": 74.5, "distance_to_base": 5.5, "distance_to_target": 16.93, "heading_to_target_deg": -28.24, "nearest_obstacle": {"clearance_m": 5.35, "radius_m": 0.41}, "nearest_teammate": {"battery_percent": 87.4, "distance_m": 2.51, "radio_link_degraded": false}, "position": [-5.5, -0.1], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0425126319289241, "hold_position": 0.31412822223601045, "move_to_target": 0.5957648681596515, "request_swarm_help": 0.030461631871973097, "return_to_base": 0.017132645803440812}}} |
{"battery_percent": 87.8, "distance_to_base": 6.66, "distance_to_target": 5.19, "heading_to_target_deg": -103.84, "nearest_obstacle": {"clearance_m": 1.07, "radius_m": 0.78}, "nearest_teammate": {"battery_percent": 89.5, "distance_m": 4.9, "radio_link_degraded": false}, "position": [-5.0, 3.66], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6577870483012769, "hold_position": 0.2891776404355398, "move_to_target": 0.045351624563973264, "request_swarm_help": 0.005296473236913564, "return_to_base": 0.0023872134622965565}}} |
{"battery_percent": 58.9, "distance_to_base": 15.28, "distance_to_target": 18.87, "heading_to_target_deg": -145.89, "nearest_obstacle": {"clearance_m": 2.27, "radius_m": 0.79}, "nearest_teammate": {"battery_percent": 76.5, "distance_m": 1.64, "radio_link_degraded": false}, "position": [5.89, 1.91], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.009416896869382688, "hold_position": 0.06958197924571309, "move_to_target": 0.06593942033258492, "request_swarm_help": 0.8501408019305988, "return_to_base": 0.004920901621720469}}} |
{"battery_percent": 14.5, "distance_to_base": 14.43, "distance_to_target": 3.3, "heading_to_target_deg": -177.59, "nearest_obstacle": {"clearance_m": 1.11, "radius_m": 1.17}, "nearest_teammate": {"battery_percent": 32.3, "distance_m": 7.17, "radio_link_degraded": false}, "position": [6.12, -7.66], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.5056690410387437, "hold_position": 0.22397404623116124, "move_to_target": 0.011191965506528477, "request_swarm_help": 0.004102227751218604, "return_to_base": 0.25506271947234804}}} |
{"battery_percent": 43.6, "distance_to_base": 8.54, "distance_to_target": 9.69, "heading_to_target_deg": 12.21, "nearest_obstacle": {"clearance_m": 1.17, "radius_m": 0.68}, "nearest_teammate": {"battery_percent": 70.0, "distance_m": 4.84, "radio_link_degraded": false}, "position": [-8.42, -1.42], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6632591582393855, "hold_position": 0.2965270210757406, "move_to_target": 0.029669141776555566, "request_swarm_help": 0.005431081838775335, "return_to_base": 0.005113597069542855}}} |
{"battery_percent": 86.6, "distance_to_base": 13.9, "distance_to_target": 7.63, "heading_to_target_deg": -82.28, "nearest_obstacle": {"clearance_m": 3.68, "radius_m": 1.03}, "nearest_teammate": {"battery_percent": 44.6, "distance_m": 2.87, "radio_link_degraded": false}, "position": [-8.05, 2.68], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.009085778895583839, "hold_position": 0.06713532996194913, "move_to_target": 0.19584039882549284, "request_swarm_help": 0.7249464183112528, "return_to_base": 0.002992074005721411}}} |
{"battery_percent": 76.4, "distance_to_base": 7.78, "distance_to_target": 2.63, "heading_to_target_deg": -10.23, "nearest_obstacle": {"clearance_m": 5.61, "radius_m": 0.84}, "nearest_teammate": {"battery_percent": 34.4, "distance_m": 2.61, "radio_link_degraded": false}, "position": [1.19, 9.14], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.014690429134769941, "hold_position": 0.1085484049941803, "move_to_target": 0.8605009736406821, "request_swarm_help": 0.010526152440828076, "return_to_base": 0.005734039789539579}}} |
{"battery_percent": 91.8, "distance_to_base": 5.61, "distance_to_target": 9.04, "heading_to_target_deg": -120.67, "nearest_obstacle": {"clearance_m": 1.13, "radius_m": 0.69}, "nearest_teammate": {"battery_percent": 74.2, "distance_m": 3.25, "radio_link_degraded": false}, "position": [5.6, 0.16], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.498332028454802, "hold_position": 0.041776072276159114, "move_to_target": 0.0236198947946744, "request_swarm_help": 0.43456364346776627, "return_to_base": 0.0017083610065983098}}} |
{"battery_percent": 72.3, "distance_to_base": 6.21, "distance_to_target": 20.11, "heading_to_target_deg": 29.83, "nearest_obstacle": {"clearance_m": 4.58, "radius_m": 0.71}, "nearest_teammate": {"battery_percent": 17.5, "distance_m": 4.15, "radio_link_degraded": false}, "position": [-8.99, -1.07], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06364745534813618, "hold_position": 0.4702946181215619, "move_to_target": 0.39383594613922834, "request_swarm_help": 0.045605394595286744, "return_to_base": 0.026616585795786973}}} |
{"battery_percent": 57.8, "distance_to_base": 10.4, "distance_to_target": 4.33, "heading_to_target_deg": 106.69, "nearest_obstacle": {"clearance_m": 2.33, "radius_m": 0.57}, "nearest_teammate": {"battery_percent": 34.3, "distance_m": 3.03, "radio_link_degraded": false}, "position": [3.25, -0.83], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.008516935867435946, "hold_position": 0.06293211691547879, "move_to_target": 0.25534186979199536, "request_swarm_help": 0.668676767307544, "return_to_base": 0.004532310117546004}}} |
{"battery_percent": 49.0, "distance_to_base": 9.41, "distance_to_target": 6.98, "heading_to_target_deg": -173.17, "nearest_obstacle": {"clearance_m": 1.81, "radius_m": 0.8}, "nearest_teammate": {"battery_percent": 27.7, "distance_m": 4.11, "radio_link_degraded": false}, "position": [0.3, 3.82], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.030559831752451506, "hold_position": 0.2258083111927463, "move_to_target": 0.7028801284152891, "request_swarm_help": 0.021897076296498577, "return_to_base": 0.018854652343014304}}} |
{"battery_percent": 76.6, "distance_to_base": 11.79, "distance_to_target": 22.6, "heading_to_target_deg": 147.34, "nearest_obstacle": {"clearance_m": 1.52, "radius_m": 1.03}, "nearest_teammate": {"battery_percent": 77.0, "distance_m": 8.13, "radio_link_degraded": false}, "position": [9.59, -6.85], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06984078858772762, "hold_position": 0.5160575048682751, "move_to_target": 0.3368510965398159, "request_swarm_help": 0.050043111778271414, "return_to_base": 0.027207498225910096}}} |
{"battery_percent": 11.0, "distance_to_base": 9.82, "distance_to_target": 9.65, "heading_to_target_deg": -63.55, "nearest_obstacle": {"clearance_m": 2.36, "radius_m": 0.64}, "nearest_teammate": {"battery_percent": 7.9, "distance_m": 6.37, "radio_link_degraded": false}, "position": [-3.26, 9.27], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.012836127229067866, "hold_position": 0.09484686418859374, "move_to_target": 0.059571805468794495, "request_swarm_help": 0.009197487066135903, "return_to_base": 0.8235477160474081}}} |
{"battery_percent": 28.5, "distance_to_base": 4.88, "distance_to_target": 4.44, "heading_to_target_deg": 169.57, "nearest_obstacle": {"clearance_m": 2.38, "radius_m": 0.6}, "nearest_teammate": {"battery_percent": 65.3, "distance_m": 1.06, "radio_link_degraded": false}, "position": [-0.79, 4.82], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.025235150401205938, "hold_position": 0.186463941979463, "move_to_target": 0.7483005057397691, "request_swarm_help": 0.01808177538950277, "return_to_base": 0.0219186264900592}}} |
{"battery_percent": 24.2, "distance_to_base": 9.3, "distance_to_target": 11.58, "heading_to_target_deg": 14.98, "nearest_obstacle": {"clearance_m": 2.47, "radius_m": 0.56}, "nearest_teammate": {"battery_percent": 48.4, "distance_m": 7.48, "radio_link_degraded": false}, "position": [-3.03, -8.79], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.04072088734073785, "hold_position": 0.3008889209589469, "move_to_target": 0.5912477285352757, "request_swarm_help": 0.02917779077398651, "return_to_base": 0.03796467239105291}}} |
{"battery_percent": 64.9, "distance_to_base": 7.52, "distance_to_target": 4.04, "heading_to_target_deg": -56.4, "nearest_obstacle": {"clearance_m": 2.23, "radius_m": 0.52}, "nearest_teammate": {"battery_percent": 40.9, "distance_m": 2.45, "radio_link_degraded": false}, "position": [-4.89, 5.71], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.016543337346653825, "hold_position": 0.12223964771795957, "move_to_target": 0.8415299002384036, "request_swarm_help": 0.01185381919026217, "return_to_base": 0.007833295506720987}}} |
{"battery_percent": 64.2, "distance_to_base": 9.01, "distance_to_target": 4.47, "heading_to_target_deg": -127.11, "nearest_obstacle": {"clearance_m": 2.87, "radius_m": 0.61}, "nearest_teammate": {"battery_percent": 9.5, "distance_m": 9.16, "radio_link_degraded": false}, "position": [6.39, 6.35], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.017146826113945593, "hold_position": 0.12669886007455303, "move_to_target": 0.8356593161615028, "request_swarm_help": 0.012286237787606308, "return_to_base": 0.008208759862392414}}} |
{"battery_percent": 56.1, "distance_to_base": 3.92, "distance_to_target": 5.49, "heading_to_target_deg": -104.54, "nearest_obstacle": {"clearance_m": 1.61, "radius_m": 0.77}, "nearest_teammate": {"battery_percent": 89.8, "distance_m": 3.52, "radio_link_degraded": false}, "position": [-1.34, 3.69], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.009055115120625812, "hold_position": 0.06690875360857929, "move_to_target": 0.24166756652442078, "request_swarm_help": 0.6774076852725813, "return_to_base": 0.0049608794737929325}}} |
{"battery_percent": 44.5, "distance_to_base": 13.36, "distance_to_target": 19.07, "heading_to_target_deg": 119.3, "nearest_obstacle": {"clearance_m": 2.51, "radius_m": 0.82}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 10.83, "radio_link_degraded": false}, "position": [9.35, -7.74], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06011365935927952, "hold_position": 0.444183201317724, "move_to_target": 0.41267372355590737, "request_swarm_help": 0.04307331912409088, "return_to_base": 0.039956096642998346}}} |
{"battery_percent": 87.2, "distance_to_base": 3.95, "distance_to_target": 11.12, "heading_to_target_deg": 91.75, "nearest_obstacle": {"clearance_m": 1.48, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 86.1, "distance_m": 0.85, "radio_link_degraded": false}, "position": [1.09, -3.8], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.31572157083471497, "hold_position": 0.025281007108876263, "move_to_target": 0.007036064444535528, "request_swarm_help": 0.6508447458532266, "return_to_base": 0.0011166117586464811}}} |
{"battery_percent": 20.8, "distance_to_base": 6.5, "distance_to_target": 5.22, "heading_to_target_deg": 119.12, "nearest_obstacle": {"clearance_m": 1.04, "radius_m": 1.16}, "nearest_teammate": {"battery_percent": 8.6, "distance_m": 4.54, "radio_link_degraded": false}, "position": [-4.35, 4.83], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6556267366787767, "hold_position": 0.28698012373282605, "move_to_target": 0.04489579027047942, "request_swarm_help": 0.005256224314534697, "return_to_base": 0.007241125003383166}}} |
{"battery_percent": 50.7, "distance_to_base": 11.51, "distance_to_target": 0.17, "heading_to_target_deg": -129.57, "nearest_obstacle": {"clearance_m": 4.89, "radius_m": 0.56}, "nearest_teammate": {"battery_percent": 41.6, "distance_m": 4.12, "radio_link_degraded": false}, "position": [-1.69, -2.66], "radio_link_degrade... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.011815847985523369, "hold_position": 0.08730796362146889, "move_to_target": 0.8853233745744613, "request_swarm_help": 0.00846642504260773, "return_to_base": 0.007086388775938814}}} |
{"battery_percent": 85.1, "distance_to_base": 8.43, "distance_to_target": 3.71, "heading_to_target_deg": 95.54, "nearest_obstacle": {"clearance_m": 6.93, "radius_m": 0.76}, "nearest_teammate": {"battery_percent": 45.8, "distance_m": 3.42, "radio_link_degraded": false}, "position": [-6.8, 4.98], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0086067648979054, "hold_position": 0.06359586866093016, "move_to_target": 0.274461533660891, "request_swarm_help": 0.6504277034460966, "return_to_base": 0.0029081293341770755}}} |
{"battery_percent": 10.5, "distance_to_base": 2.5, "distance_to_target": 5.42, "heading_to_target_deg": 7.74, "nearest_obstacle": {"clearance_m": 3.47, "radius_m": 0.67}, "nearest_teammate": {"battery_percent": 82.6, "distance_m": 4.65, "radio_link_degraded": false}, "position": [-0.47, 7.47], "radio_link_degraded": fa... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.00791882135118027, "hold_position": 0.05851261520128082, "move_to_target": 0.0924760483429864, "request_swarm_help": 0.005674083440960901, "return_to_base": 0.8354184316635916}}} |
{"battery_percent": 24.5, "distance_to_base": 5.34, "distance_to_target": 9.75, "heading_to_target_deg": 42.29, "nearest_obstacle": {"clearance_m": 1.16, "radius_m": 0.44}, "nearest_teammate": {"battery_percent": 70.6, "distance_m": 2.76, "radio_link_degraded": false}, "position": [-2.5, -3.25], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.4852349634674087, "hold_position": 0.040932417960306375, "move_to_target": 0.02154910602847505, "request_swarm_help": 0.4471453338140459, "return_to_base": 0.00513817872976409}}} |
{"battery_percent": 62.3, "distance_to_base": 15.2, "distance_to_target": 19.45, "heading_to_target_deg": 39.2, "nearest_obstacle": {"clearance_m": 1.58, "radius_m": 0.89}, "nearest_teammate": {"battery_percent": 59.6, "distance_m": 6.02, "radio_link_degraded": false}, "position": [-7.91, -8.73], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.061691029475168295, "hold_position": 0.4558384775928029, "move_to_target": 0.4077990418370362, "request_swarm_help": 0.0442035542004886, "return_to_base": 0.03046789689450398}}} |
{"battery_percent": 1.2, "distance_to_base": 4.07, "distance_to_target": 7.73, "heading_to_target_deg": -58.52, "nearest_obstacle": {"clearance_m": 0.49, "radius_m": 0.72}, "nearest_teammate": {"battery_percent": 5.9, "distance_m": 3.78, "radio_link_degraded": false}, "position": [-4.04, -0.47], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06691101445009685, "hold_position": 0.013720811577518555, "move_to_target": 0.0023304675982077907, "request_swarm_help": 0.13529974828968583, "return_to_base": 0.7817379580844909}}} |
{"battery_percent": 31.2, "distance_to_base": 4.06, "distance_to_target": 12.57, "heading_to_target_deg": 159.09, "nearest_obstacle": {"clearance_m": 3.17, "radius_m": 0.88}, "nearest_teammate": {"battery_percent": 18.8, "distance_m": 3.74, "radio_link_degraded": false}, "position": [3.84, -1.31], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.010466927264800826, "hold_position": 0.07734071274304005, "move_to_target": 0.13761686708438725, "request_swarm_help": 0.765890353418484, "return_to_base": 0.008685139489287863}}} |
{"battery_percent": 41.8, "distance_to_base": 1.22, "distance_to_target": 7.49, "heading_to_target_deg": -35.39, "nearest_obstacle": {"clearance_m": 1.38, "radius_m": 0.73}, "nearest_teammate": {"battery_percent": 33.6, "distance_m": 2.23, "radio_link_degraded": false}, "position": [0.44, -1.14], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.021827808265164707, "hold_position": 0.16128689978800415, "move_to_target": 0.78607367065151, "request_swarm_help": 0.015640308063191853, "return_to_base": 0.015171313232129415}}} |
{"battery_percent": 0.0, "distance_to_base": 4.95, "distance_to_target": 11.54, "heading_to_target_deg": -92.97, "nearest_obstacle": {"clearance_m": 1.97, "radius_m": 0.52}, "nearest_teammate": {"battery_percent": 8.3, "distance_m": 5.18, "radio_link_degraded": false}, "position": [-3.08, 3.88], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0022689676432611906, "hold_position": 0.06360284987371467, "move_to_target": 0.014375281135412941, "request_swarm_help": 0.0016257863590754618, "return_to_base": 0.9181271149885357}}} |
{"battery_percent": 48.7, "distance_to_base": 2.2, "distance_to_target": 6.66, "heading_to_target_deg": 105.79, "nearest_obstacle": {"clearance_m": 5.53, "radius_m": 0.79}, "nearest_teammate": {"battery_percent": 15.4, "distance_m": 1.8, "radio_link_degraded": false}, "position": [0.99, 1.96], "radio_link_degraded": fa... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.02045770089130567, "hold_position": 0.15116309954100116, "move_to_target": 0.8010407640336835, "request_swarm_help": 0.014658583230973831, "return_to_base": 0.01267985230303582}}} |
{"battery_percent": 79.4, "distance_to_base": 7.5, "distance_to_target": 4.6, "heading_to_target_deg": -10.02, "nearest_obstacle": {"clearance_m": 5.05, "radius_m": 0.62}, "nearest_teammate": {"battery_percent": 14.7, "distance_m": 3.27, "radio_link_degraded": false}, "position": [-0.75, 9.47], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.017367926193780796, "hold_position": 0.12833258096793332, "move_to_target": 0.8354063186900824, "request_swarm_help": 0.012444662917578588, "return_to_base": 0.006448511230624826}}} |
{"battery_percent": 69.0, "distance_to_base": 13.55, "distance_to_target": 20.48, "heading_to_target_deg": 51.29, "nearest_obstacle": {"clearance_m": 1.52, "radius_m": 1.1}, "nearest_teammate": {"battery_percent": 65.4, "distance_m": 9.07, "radio_link_degraded": false}, "position": [-8.6, -6.21], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06446747680243496, "hold_position": 0.47635380264970234, "move_to_target": 0.3844757144952122, "request_swarm_help": 0.04619296564263407, "return_to_base": 0.028510040410016434}}} |
{"battery_percent": 28.3, "distance_to_base": 13.2, "distance_to_target": 5.1, "heading_to_target_deg": -118.71, "nearest_obstacle": {"clearance_m": 4.71, "radius_m": 0.43}, "nearest_teammate": {"battery_percent": 71.4, "distance_m": 4.22, "radio_link_degraded": false}, "position": [5.02, -3.18], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.026514404449526595, "hold_position": 0.19591642190728842, "move_to_target": 0.7354959072732148, "request_swarm_help": 0.0189984009693028, "return_to_base": 0.023074865400667412}}} |
{"battery_percent": 3.2, "distance_to_base": 2.09, "distance_to_target": 13.64, "heading_to_target_deg": -142.27, "nearest_obstacle": {"clearance_m": 0.4, "radius_m": 0.77}, "nearest_teammate": {"battery_percent": 27.5, "distance_m": 3.98, "radio_link_degraded": false}, "position": [3.76, 3.47], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06300652780686301, "hold_position": 0.012723605478258286, "move_to_target": 0.0011963972318192113, "request_swarm_help": 0.12303828039362295, "return_to_base": 0.8000351890894367}}} |
{"battery_percent": 72.3, "distance_to_base": 4.5, "distance_to_target": 19.34, "heading_to_target_deg": 34.34, "nearest_obstacle": {"clearance_m": 4.45, "radius_m": 1.01}, "nearest_teammate": {"battery_percent": 16.9, "distance_m": 4.28, "radio_link_degraded": false}, "position": [-7.52, -1.98], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06171410614113731, "hold_position": 0.4560089923722242, "move_to_target": 0.4122487292808761, "request_swarm_help": 0.04422008935419905, "return_to_base": 0.025808082851563465}}} |
{"battery_percent": 52.7, "distance_to_base": 4.73, "distance_to_target": 7.1, "heading_to_target_deg": 166.15, "nearest_obstacle": {"clearance_m": 2.67, "radius_m": 0.46}, "nearest_teammate": {"battery_percent": 47.1, "distance_m": 3.18, "radio_link_degraded": false}, "position": [2.42, 4.06], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.009172007423048191, "hold_position": 0.0677724773887114, "move_to_target": 0.20836699673338419, "request_swarm_help": 0.709374578259663, "return_to_base": 0.0053139401951933065}}} |
{"battery_percent": 61.9, "distance_to_base": 10.92, "distance_to_target": 11.46, "heading_to_target_deg": 157.42, "nearest_obstacle": {"clearance_m": 3.25, "radius_m": 0.52}, "nearest_teammate": {"battery_percent": 18.7, "distance_m": 8.04, "radio_link_degraded": false}, "position": [4.48, -6.97], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.02955666642737371, "hold_position": 0.2183958663292445, "move_to_target": 0.7161591246332941, "request_swarm_help": 0.0211782769313984, "return_to_base": 0.014710065678689299}}} |
{"battery_percent": 82.0, "distance_to_base": 1.19, "distance_to_target": 5.03, "heading_to_target_deg": 136.18, "nearest_obstacle": {"clearance_m": 3.08, "radius_m": 1.03}, "nearest_teammate": {"battery_percent": 49.4, "distance_m": 3.06, "radio_link_degraded": false}, "position": [-0.75, -0.92], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.008693793167404333, "hold_position": 0.0642389254264506, "move_to_target": 0.24307857090670243, "request_swarm_help": 0.680894391856963, "return_to_base": 0.0030943186424796827}}} |
{"battery_percent": 33.5, "distance_to_base": 12.12, "distance_to_target": 23.8, "heading_to_target_deg": -138.07, "nearest_obstacle": {"clearance_m": 5.9, "radius_m": 0.53}, "nearest_teammate": {"battery_percent": 87.1, "distance_m": 3.87, "radio_link_degraded": false}, "position": [9.33, 7.73], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.07051610051986644, "hold_position": 0.521047422619126, "move_to_target": 0.30162019962744185, "request_swarm_help": 0.050526993922052954, "return_to_base": 0.05628928331151283}}} |
{"battery_percent": 4.5, "distance_to_base": 3.69, "distance_to_target": 13.53, "heading_to_target_deg": 9.44, "nearest_obstacle": {"clearance_m": 3.81, "radius_m": 0.68}, "nearest_teammate": {"battery_percent": 32.4, "distance_m": 3.54, "radio_link_degraded": false}, "position": [-4.39, 0.07], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0020228845206703844, "hold_position": 0.014947207204891911, "move_to_target": 0.0063722581345259195, "request_swarm_help": 0.15102279694633938, "return_to_base": 0.8256348531935723}}} |
{"battery_percent": 30.5, "distance_to_base": 9.46, "distance_to_target": 5.42, "heading_to_target_deg": -148.78, "nearest_obstacle": {"clearance_m": 0.88, "radius_m": 0.56}, "nearest_teammate": {"battery_percent": 98.0, "distance_m": 12.75, "radio_link_degraded": false}, "position": [-4.8, 8.15], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6628699146241973, "hold_position": 0.2825543218074108, "move_to_target": 0.04333776909264028, "request_swarm_help": 0.005175162924675726, "return_to_base": 0.00606283155107582}}} |
{"battery_percent": 60.2, "distance_to_base": 12.11, "distance_to_target": 6.66, "heading_to_target_deg": 98.71, "nearest_obstacle": {"clearance_m": 0.36, "radius_m": 0.57}, "nearest_teammate": {"battery_percent": 36.7, "distance_m": 3.95, "radio_link_degraded": false}, "position": [3.02, -3.26], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.39928549919025563, "hold_position": 0.029476181005528207, "move_to_target": 0.012825221938045927, "request_swarm_help": 0.5563734898372417, "return_to_base": 0.002039608028928607}}} |
{"battery_percent": 81.8, "distance_to_base": 8.32, "distance_to_target": 5.57, "heading_to_target_deg": -53.82, "nearest_obstacle": {"clearance_m": 1.73, "radius_m": 0.9}, "nearest_teammate": {"battery_percent": 51.1, "distance_m": 1.4, "radio_link_degraded": false}, "position": [1.2, 0.29], "radio_link_degraded": fal... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.007832148779512165, "hold_position": 0.05787218670698661, "move_to_target": 0.20734647037811385, "request_swarm_help": 0.7241549021755089, "return_to_base": 0.002794291959878458}}} |
{"battery_percent": 77.5, "distance_to_base": 13.31, "distance_to_target": 0.89, "heading_to_target_deg": 18.85, "nearest_obstacle": {"clearance_m": 6.83, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 60.7, "distance_m": 1.26, "radio_link_degraded": true}, "position": [4.83, 3.79], "radio_link_degraded": t... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.01931024455710297, "hold_position": 0.14268448031650408, "move_to_target": 0.8167645376821406, "request_swarm_help": 0.013836394840001374, "return_to_base": 0.007404342604251215}}} |
{"battery_percent": 4.7, "distance_to_base": 6.0, "distance_to_target": 2.73, "heading_to_target_deg": 37.78, "nearest_obstacle": {"clearance_m": 3.42, "radius_m": 1.1}, "nearest_teammate": {"battery_percent": 92.4, "distance_m": 3.51, "radio_link_degraded": false}, "position": [4.17, -4.31], "radio_link_degraded": fal... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0026785641322862328, "hold_position": 0.01979206063804647, "move_to_target": 0.04095055978669574, "request_swarm_help": 0.0019192750681629974, "return_to_base": 0.9346595403748085}}} |
{"battery_percent": 75.0, "distance_to_base": 7.32, "distance_to_target": 4.87, "heading_to_target_deg": -79.78, "nearest_obstacle": {"clearance_m": 1.59, "radius_m": 0.41}, "nearest_teammate": {"battery_percent": 33.1, "distance_m": 7.72, "radio_link_degraded": true}, "position": [4.7, 5.61], "radio_link_degraded": fa... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.026379275267149012, "hold_position": 0.19491794479809782, "move_to_target": 0.7492477695181249, "request_swarm_help": 0.018901576679157022, "return_to_base": 0.010553433737471111}}} |
{"battery_percent": 81.9, "distance_to_base": 4.08, "distance_to_target": 3.52, "heading_to_target_deg": -13.55, "nearest_obstacle": {"clearance_m": 3.77, "radius_m": 0.99}, "nearest_teammate": {"battery_percent": 67.2, "distance_m": 3.78, "radio_link_degraded": false}, "position": [2.01, 3.55], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.008761331089314938, "hold_position": 0.0647379669202533, "move_to_target": 0.28485573732100267, "request_swarm_help": 0.638520486972518, "return_to_base": 0.0031244776969111595}}} |
{"battery_percent": 44.3, "distance_to_base": 14.7, "distance_to_target": 13.53, "heading_to_target_deg": -114.5, "nearest_obstacle": {"clearance_m": 2.72, "radius_m": 0.47}, "nearest_teammate": {"battery_percent": 25.7, "distance_m": 3.9, "radio_link_degraded": false}, "position": [0.9, 5.85], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.010748808581175258, "hold_position": 0.07942354960297111, "move_to_target": 0.12845438225556072, "request_swarm_help": 0.7742027670793247, "return_to_base": 0.007170492480968344}}} |
{"battery_percent": 27.3, "distance_to_base": 13.44, "distance_to_target": 3.26, "heading_to_target_deg": 152.37, "nearest_obstacle": {"clearance_m": 2.52, "radius_m": 1.15}, "nearest_teammate": {"battery_percent": 26.9, "distance_m": 2.28, "radio_link_degraded": false}, "position": [2.96, -5.6], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.007857468406135491, "hold_position": 0.05805927484851033, "move_to_target": 0.2621875505242619, "request_swarm_help": 0.6649370561627151, "return_to_base": 0.00695865005837722}}} |
{"battery_percent": 60.7, "distance_to_base": 5.55, "distance_to_target": 6.78, "heading_to_target_deg": -8.75, "nearest_obstacle": {"clearance_m": 1.26, "radius_m": 1.13}, "nearest_teammate": {"battery_percent": 29.9, "distance_m": 5.26, "radio_link_degraded": true}, "position": [-2.06, -5.46], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.020703250469172492, "hold_position": 0.15297747914692786, "move_to_target": 0.8009771633725067, "request_swarm_help": 0.01483452719181358, "return_to_base": 0.010507579819579204}}} |
{"battery_percent": 3.3, "distance_to_base": 4.16, "distance_to_target": 2.77, "heading_to_target_deg": -13.83, "nearest_obstacle": {"clearance_m": 7.29, "radius_m": 1.14}, "nearest_teammate": {"battery_percent": 1.9, "distance_m": 3.88, "radio_link_degraded": false}, "position": [3.19, 2.67], "radio_link_degraded": fa... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0020273044616461334, "hold_position": 0.014979866396715683, "move_to_target": 0.01871487838506431, "request_swarm_help": 0.1462143526987048, "return_to_base": 0.8180635980578691}}} |
{"battery_percent": 82.5, "distance_to_base": 8.71, "distance_to_target": 2.4, "heading_to_target_deg": 64.79, "nearest_obstacle": {"clearance_m": 2.91, "radius_m": 0.75}, "nearest_teammate": {"battery_percent": 49.4, "distance_m": 6.89, "radio_link_degraded": true}, "position": [-4.16, 7.65], "radio_link_degraded": tr... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.014409050341809188, "hold_position": 0.10646928130794397, "move_to_target": 0.8637110251491144, "request_swarm_help": 0.010324535725540249, "return_to_base": 0.005086107475592384}}} |
{"battery_percent": 17.4, "distance_to_base": 1.87, "distance_to_target": 4.6, "heading_to_target_deg": 54.93, "nearest_obstacle": {"clearance_m": 2.77, "radius_m": 0.82}, "nearest_teammate": {"battery_percent": 24.5, "distance_m": 5.51, "radio_link_degraded": true}, "position": [-0.86, -1.66], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.008713786262258431, "hold_position": 0.06438665552591877, "move_to_target": 0.06699525826870331, "request_swarm_help": 0.006243700690555916, "return_to_base": 0.8536605992525635}}} |
{"battery_percent": 47.1, "distance_to_base": 6.5, "distance_to_target": 12.63, "heading_to_target_deg": -41.1, "nearest_obstacle": {"clearance_m": 1.87, "radius_m": 0.88}, "nearest_teammate": {"battery_percent": 15.9, "distance_m": 6.59, "radio_link_degraded": false}, "position": [-3.19, 5.67], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.031965988129620856, "hold_position": 0.23619847954751969, "move_to_target": 0.6885882877256765, "request_swarm_help": 0.022904631368303417, "return_to_base": 0.020342613228879432}}} |
{"battery_percent": 73.6, "distance_to_base": 13.29, "distance_to_target": 0.2, "heading_to_target_deg": 87.93, "nearest_obstacle": {"clearance_m": 1.64, "radius_m": 0.98}, "nearest_teammate": {"battery_percent": 61.5, "distance_m": 6.16, "radio_link_degraded": false}, "position": [-8.93, -6.75], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.011872922645674747, "hold_position": 0.08772969148715479, "move_to_target": 0.887027381005445, "request_swarm_help": 0.008507320823646542, "return_to_base": 0.004862684038078848}}} |
{"battery_percent": 12.6, "distance_to_base": 5.68, "distance_to_target": 14.28, "heading_to_target_deg": 76.66, "nearest_obstacle": {"clearance_m": 2.41, "radius_m": 0.59}, "nearest_teammate": {"battery_percent": 17.9, "distance_m": 5.28, "radio_link_degraded": false}, "position": [3.24, -4.72], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.010384142555196128, "hold_position": 0.0767290118796373, "move_to_target": 0.05001689243943315, "request_swarm_help": 0.007440563274259741, "return_to_base": 0.8554293898514737}}} |
{"battery_percent": 22.5, "distance_to_base": 2.34, "distance_to_target": 0.92, "heading_to_target_deg": 146.2, "nearest_obstacle": {"clearance_m": 2.56, "radius_m": 1.19}, "nearest_teammate": {"battery_percent": 69.5, "distance_m": 0.82, "radio_link_degraded": false}, "position": [-1.05, -2.09], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6661549273944848, "hold_position": 0.2808426137639692, "move_to_target": 0.04097151652343782, "request_swarm_help": 0.0051438118982691065, "return_to_base": 0.006887130419839042}}} |
{"battery_percent": 75.7, "distance_to_base": 5.33, "distance_to_target": 0.68, "heading_to_target_deg": -45.4, "nearest_obstacle": {"clearance_m": 3.61, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 59.3, "distance_m": 0.58, "radio_link_degraded": false}, "position": [-5.33, 0.09], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.4504308383908353, "hold_position": 0.03448701065843612, "move_to_target": 0.04497928051924563, "request_swarm_help": 0.4682594360651406, "return_to_base": 0.0018434343663423724}}} |
{"battery_percent": 47.2, "distance_to_base": 13.08, "distance_to_target": 10.36, "heading_to_target_deg": 151.37, "nearest_obstacle": {"clearance_m": 2.28, "radius_m": 0.64}, "nearest_teammate": {"battery_percent": 4.0, "distance_m": 4.58, "radio_link_degraded": false}, "position": [4.16, -1.87], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.038252222726099336, "hold_position": 0.28264781963193786, "move_to_target": 0.6273638906040776, "request_swarm_help": 0.02740891528229243, "return_to_base": 0.024327151755592795}}} |
{"battery_percent": 24.2, "distance_to_base": 10.72, "distance_to_target": 19.13, "heading_to_target_deg": -110.37, "nearest_obstacle": {"clearance_m": 6.66, "radius_m": 0.52}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 9.03, "radio_link_degraded": false}, "position": [2.98, 10.29], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.05930696420746632, "hold_position": 0.43822248558624083, "move_to_target": 0.40467674087777716, "request_swarm_help": 0.042495296789728645, "return_to_base": 0.05529851253878713}}} |
{"battery_percent": 84.4, "distance_to_base": 6.51, "distance_to_target": 0.87, "heading_to_target_deg": 8.23, "nearest_obstacle": {"clearance_m": 4.76, "radius_m": 0.67}, "nearest_teammate": {"battery_percent": 30.8, "distance_m": 0.92, "radio_link_degraded": false}, "position": [4.04, 8.07], "radio_link_degraded": fa... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.4441286024741023, "hold_position": 0.03597235345076827, "move_to_target": 0.046018089975653584, "request_swarm_help": 0.47221549546303193, "return_to_base": 0.0016654586364439551}}} |
{"battery_percent": 76.2, "distance_to_base": 6.34, "distance_to_target": 5.76, "heading_to_target_deg": -87.31, "nearest_obstacle": {"clearance_m": 3.79, "radius_m": 0.98}, "nearest_teammate": {"battery_percent": 58.5, "distance_m": 4.5, "radio_link_degraded": false}, "position": [-1.25, 6.21], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.02819405275853694, "hold_position": 0.2083274374890399, "move_to_target": 0.732220087143001, "request_swarm_help": 0.02020192157346103, "return_to_base": 0.011056501035961204}}} |
{"battery_percent": 83.6, "distance_to_base": 2.54, "distance_to_target": 8.24, "heading_to_target_deg": 143.05, "nearest_obstacle": {"clearance_m": 1.72, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 45.8, "distance_m": 6.47, "radio_link_degraded": false}, "position": [-2.41, -0.8], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.03363111431194573, "hold_position": 0.24850219032051646, "move_to_target": 0.6821184324660219, "request_swarm_help": 0.02409774641399539, "return_to_base": 0.011650516487520508}}} |
{"battery_percent": 11.8, "distance_to_base": 0.19, "distance_to_target": 11.88, "heading_to_target_deg": -48.43, "nearest_obstacle": {"clearance_m": 1.42, "radius_m": 0.4}, "nearest_teammate": {"battery_percent": 62.3, "distance_m": 1.62, "radio_link_degraded": false}, "position": [0.17, -0.09], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.007373560877639802, "hold_position": 0.0544836549737608, "move_to_target": 0.045130194951151, "request_swarm_help": 0.005283387239250864, "return_to_base": 0.8877292019581974}}} |
{"battery_percent": 76.5, "distance_to_base": 14.4, "distance_to_target": 13.32, "heading_to_target_deg": 145.59, "nearest_obstacle": {"clearance_m": 0.9, "radius_m": 0.9}, "nearest_teammate": {"battery_percent": 92.1, "distance_m": 5.7, "radio_link_degraded": false}, "position": [6.38, -4.21], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6806459225366495, "hold_position": 0.2908957976823115, "move_to_target": 0.020230357839312593, "request_swarm_help": 0.005327942384599495, "return_to_base": 0.00289997955712704}}} |
{"battery_percent": 34.7, "distance_to_base": 12.12, "distance_to_target": 11.65, "heading_to_target_deg": -130.28, "nearest_obstacle": {"clearance_m": 1.19, "radius_m": 0.97}, "nearest_teammate": {"battery_percent": 53.3, "distance_m": 4.44, "radio_link_degraded": false}, "position": [2.82, 2.44], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6653232879954205, "hold_position": 0.29867834903941354, "move_to_target": 0.024551250046399683, "request_swarm_help": 0.005470484784889204, "return_to_base": 0.005976628133877042}}} |
{"battery_percent": 15.8, "distance_to_base": 9.75, "distance_to_target": 1.81, "heading_to_target_deg": -150.94, "nearest_obstacle": {"clearance_m": 5.2, "radius_m": 1.19}, "nearest_teammate": {"battery_percent": 46.0, "distance_m": 16.14, "radio_link_degraded": false}, "position": [4.16, 7.88], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.012688210595933171, "hold_position": 0.09375389988839647, "move_to_target": 0.1290353292448571, "request_swarm_help": 0.009091500167140231, "return_to_base": 0.7554310601036731}}} |
{"battery_percent": 0.0, "distance_to_base": 8.43, "distance_to_target": 10.17, "heading_to_target_deg": 47.49, "nearest_obstacle": {"clearance_m": 3.48, "radius_m": 1.09}, "nearest_teammate": {"battery_percent": 58.8, "distance_m": 2.5, "radio_link_degraded": false}, "position": [-4.24, 0.96], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.002964319363030211, "hold_position": 0.021903522068576608, "move_to_target": 0.02153996775505629, "request_swarm_help": 0.002124027638151298, "return_to_base": 0.9514681631751857}}} |
{"battery_percent": 0.0, "distance_to_base": 13.54, "distance_to_target": 10.86, "heading_to_target_deg": 98.7, "nearest_obstacle": {"clearance_m": 3.39, "radius_m": 0.43}, "nearest_teammate": {"battery_percent": 37.9, "distance_m": 2.44, "radio_link_degraded": false}, "position": [-3.5, -5.63], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.004094321598256625, "hold_position": 0.03025317197658159, "move_to_target": 0.02774940399642963, "request_swarm_help": 0.0029337096207093898, "return_to_base": 0.9349693928080227}}} |
{"battery_percent": 47.3, "distance_to_base": 8.42, "distance_to_target": 7.06, "heading_to_target_deg": -136.19, "nearest_obstacle": {"clearance_m": 0.96, "radius_m": 1.03}, "nearest_teammate": {"battery_percent": 20.9, "distance_m": 1.96, "radio_link_degraded": false}, "position": [-1.93, 0.01], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.33315329094964063, "hold_position": 0.027174094327819264, "move_to_target": 0.011351575961142031, "request_swarm_help": 0.6259893643307078, "return_to_base": 0.0023316744306902774}}} |
{"battery_percent": 20.1, "distance_to_base": 9.44, "distance_to_target": 7.42, "heading_to_target_deg": 64.4, "nearest_obstacle": {"clearance_m": 5.39, "radius_m": 0.62}, "nearest_teammate": {"battery_percent": 32.3, "distance_m": 4.39, "radio_link_degraded": false}, "position": [-6.0, -7.28], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.031138134932314227, "hold_position": 0.23008142583094193, "move_to_target": 0.6854061450765462, "request_swarm_help": 0.0223114486318746, "return_to_base": 0.031062845528323158}}} |
{"battery_percent": 23.2, "distance_to_base": 10.09, "distance_to_target": 19.62, "heading_to_target_deg": 123.46, "nearest_obstacle": {"clearance_m": 2.3, "radius_m": 0.69}, "nearest_teammate": {"battery_percent": 90.5, "distance_m": 1.61, "radio_link_degraded": false}, "position": [7.68, -6.54], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06041783213756768, "hold_position": 0.44643075104026275, "move_to_target": 0.3925833049436562, "request_swarm_help": 0.043291268443558566, "return_to_base": 0.057276843434955024}}} |
{"battery_percent": 10.2, "distance_to_base": 0.22, "distance_to_target": 18.92, "heading_to_target_deg": 48.42, "nearest_obstacle": {"clearance_m": 3.1, "radius_m": 1.01}, "nearest_teammate": {"battery_percent": 19.3, "distance_m": 3.6, "radio_link_degraded": false}, "position": [-4.1, -5.22], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.00737520838614095, "hold_position": 0.0544958285064993, "move_to_target": 0.022344793850628947, "request_swarm_help": 0.0052845677306763775, "return_to_base": 0.9104996015260546}}} |
{"battery_percent": 7.4, "distance_to_base": 8.85, "distance_to_target": 9.01, "heading_to_target_deg": 10.84, "nearest_obstacle": {"clearance_m": 0.21, "radius_m": 1.15}, "nearest_teammate": {"battery_percent": 28.3, "distance_m": 2.28, "radio_link_degraded": false}, "position": [1.05, -8.79], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0776127307881, "hold_position": 0.015181056236553182, "move_to_target": 0.0013756392793366275, "request_swarm_help": 0.3387376248343216, "return_to_base": 0.5670929488616886}}} |
{"battery_percent": 22.3, "distance_to_base": 6.33, "distance_to_target": 0.34, "heading_to_target_deg": 20.46, "nearest_obstacle": {"clearance_m": 2.11, "radius_m": 0.54}, "nearest_teammate": {"battery_percent": 53.9, "distance_m": 1.14, "radio_link_degraded": false}, "position": [-0.61, -0.85], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.011942652518608328, "hold_position": 0.08824492943003232, "move_to_target": 0.8797697063215769, "request_swarm_help": 0.008557284460885786, "return_to_base": 0.011485427268896729}}} |
{"battery_percent": 10.6, "distance_to_base": 0.25, "distance_to_target": 11.82, "heading_to_target_deg": -48.5, "nearest_obstacle": {"clearance_m": 1.36, "radius_m": 0.4}, "nearest_teammate": {"battery_percent": 61.1, "distance_m": 1.54, "radio_link_degraded": false}, "position": [0.22, -0.13], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.007270000678900594, "hold_position": 0.0537184428556604, "move_to_target": 0.04478565548171631, "request_swarm_help": 0.005209183114324982, "return_to_base": 0.8890167178693977}}} |
{"battery_percent": 24.2, "distance_to_base": 10.52, "distance_to_target": 18.97, "heading_to_target_deg": -112.47, "nearest_obstacle": {"clearance_m": 6.96, "radius_m": 0.52}, "nearest_teammate": {"battery_percent": 34.7, "distance_m": 4.23, "radio_link_degraded": false}, "position": [3.58, 9.89], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.058923222806323644, "hold_position": 0.43538699884571536, "move_to_target": 0.4085287367545047, "request_swarm_help": 0.042220334060646465, "return_to_base": 0.05494070753280996}}} |
{"battery_percent": 15.2, "distance_to_base": 0.04, "distance_to_target": 8.82, "heading_to_target_deg": -112.39, "nearest_obstacle": {"clearance_m": 2.87, "radius_m": 1.12}, "nearest_teammate": {"battery_percent": 20.9, "distance_m": 4.06, "radio_link_degraded": false}, "position": [-0.01, -0.04], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.007554766361025196, "hold_position": 0.055822592455929375, "move_to_target": 0.06281190874841606, "request_swarm_help": 0.005413226641744162, "return_to_base": 0.8683975057928852}}} |
{"battery_percent": 98.9, "distance_to_base": 10.57, "distance_to_target": 6.21, "heading_to_target_deg": -173.77, "nearest_obstacle": {"clearance_m": 0.82, "radius_m": 0.72}, "nearest_teammate": {"battery_percent": 85.7, "distance_m": 7.58, "radio_link_degraded": false}, "position": [6.92, 7.99], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6702450754022102, "hold_position": 0.28260270416795974, "move_to_target": 0.04003704876385643, "request_swarm_help": 0.0051760490785201264, "return_to_base": 0.0019391225874536273}}} |
{"battery_percent": 66.0, "distance_to_base": 8.88, "distance_to_target": 7.45, "heading_to_target_deg": -127.98, "nearest_obstacle": {"clearance_m": 2.44, "radius_m": 0.82}, "nearest_teammate": {"battery_percent": 59.0, "distance_m": 2.95, "radio_link_degraded": false}, "position": [-4.65, 7.57], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.02185416362823151, "hold_position": 0.16148164104421242, "move_to_target": 0.7908455325891816, "request_swarm_help": 0.01565919250603076, "return_to_base": 0.010159470232343669}}} |
{"battery_percent": 0.0, "distance_to_base": 8.03, "distance_to_target": 15.88, "heading_to_target_deg": -25.35, "nearest_obstacle": {"clearance_m": 0.41, "radius_m": 1.05}, "nearest_teammate": {"battery_percent": 16.9, "distance_m": 6.79, "radio_link_degraded": false}, "position": [-7.97, 1.02], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0923660585474577, "hold_position": 0.07089306224006227, "move_to_target": 0.0014051485861885597, "request_swarm_help": 0.001812135364560349, "return_to_base": 0.8335235952617313}}} |
{"battery_percent": 62.6, "distance_to_base": 11.17, "distance_to_target": 0.59, "heading_to_target_deg": -89.26, "nearest_obstacle": {"clearance_m": 1.01, "radius_m": 0.65}, "nearest_teammate": {"battery_percent": 58.1, "distance_m": 2.46, "radio_link_degraded": true}, "position": [9.88, 5.21], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.3381846541588683, "hold_position": 0.027820267917955357, "move_to_target": 0.022208665060088294, "request_swarm_help": 0.6099341183922542, "return_to_base": 0.0018522944708339924}}} |
{"battery_percent": 72.1, "distance_to_base": 3.83, "distance_to_target": 12.91, "heading_to_target_deg": -89.12, "nearest_obstacle": {"clearance_m": 1.1, "radius_m": 0.98}, "nearest_teammate": {"battery_percent": 44.1, "distance_m": 8.18, "radio_link_degraded": false}, "position": [-9.93, 4.24], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6725242715377573, "hold_position": 0.2972974083690676, "move_to_target": 0.021545278023863593, "request_swarm_help": 0.005445191974244379, "return_to_base": 0.003187850095067112}}} |
{"battery_percent": 1.7, "distance_to_base": 0.23, "distance_to_target": 11.54, "heading_to_target_deg": -137.45, "nearest_obstacle": {"clearance_m": 1.93, "radius_m": 0.7}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 2.76, "radio_link_degraded": false}, "position": [6.71, 5.01], "radio_link_degraded": t... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0018048330500427551, "hold_position": 0.013336012655970028, "move_to_target": 0.011435957359476105, "request_swarm_help": 0.001293219390714024, "return_to_base": 0.9721299775437969}}} |
{"battery_percent": 81.7, "distance_to_base": 4.84, "distance_to_target": 14.49, "heading_to_target_deg": 174.43, "nearest_obstacle": {"clearance_m": 1.09, "radius_m": 0.53}, "nearest_teammate": {"battery_percent": 86.5, "distance_m": 2.75, "radio_link_degraded": false}, "position": [4.6, -1.49], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.49356094055696237, "hold_position": 0.0411378632398073, "move_to_target": 0.013483354317345634, "request_swarm_help": 0.4498280286818407, "return_to_base": 0.001989813204044048}}} |
{"battery_percent": 46.3, "distance_to_base": 2.72, "distance_to_target": 8.56, "heading_to_target_deg": 153.39, "nearest_obstacle": {"clearance_m": 7.43, "radius_m": 0.99}, "nearest_teammate": {"battery_percent": 34.2, "distance_m": 7.38, "radio_link_degraded": true}, "position": [7.75, 2.87], "radio_link_degraded": f... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.02374277685392736, "hold_position": 0.17543671011806145, "move_to_target": 0.7684951523311937, "request_swarm_help": 0.0170124430158056, "return_to_base": 0.015312917681011885}}} |
{"battery_percent": 38.9, "distance_to_base": 1.56, "distance_to_target": 15.82, "heading_to_target_deg": 46.53, "nearest_obstacle": {"clearance_m": 4.43, "radius_m": 0.84}, "nearest_teammate": {"battery_percent": 0.0, "distance_m": 1.67, "radio_link_degraded": false}, "position": [-3.29, -5.26], "radio_link_degraded":... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.039220995015560374, "hold_position": 0.28980613242585496, "move_to_target": 0.6142380175528372, "request_swarm_help": 0.02810307096050753, "return_to_base": 0.028631784045239785}}} |
{"battery_percent": 12.0, "distance_to_base": 0.6, "distance_to_target": 1.9, "heading_to_target_deg": 64.71, "nearest_obstacle": {"clearance_m": 2.07, "radius_m": 0.94}, "nearest_teammate": {"battery_percent": 9.8, "distance_m": 0.81, "radio_link_degraded": false}, "position": [5.33, -1.08], "radio_link_degraded": tru... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.3688008374480539, "hold_position": 0.1553932858471453, "move_to_target": 0.008924842663742586, "request_swarm_help": 0.002846127309310162, "return_to_base": 0.4640349067317482}}} |
{"battery_percent": 82.4, "distance_to_base": 8.55, "distance_to_target": 9.79, "heading_to_target_deg": -149.53, "nearest_obstacle": {"clearance_m": 3.84, "radius_m": 0.63}, "nearest_teammate": {"battery_percent": 61.3, "distance_m": 5.7, "radio_link_degraded": false}, "position": [4.06, 7.52], "radio_link_degraded": ... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.026256994869270838, "hold_position": 0.19401440807837642, "move_to_target": 0.7516304525382904, "request_swarm_help": 0.01881395894540789, "return_to_base": 0.009284185568654508}}} |
{"battery_percent": 82.5, "distance_to_base": 2.61, "distance_to_target": 12.17, "heading_to_target_deg": -128.36, "nearest_obstacle": {"clearance_m": 0.37, "radius_m": 1.19}, "nearest_teammate": {"battery_percent": 28.8, "distance_m": 11.06, "radio_link_degraded": false}, "position": [2.4, 1.04], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.6981010864291091, "hold_position": 0.2731094281544633, "move_to_target": 0.021324326643419562, "request_swarm_help": 0.005002173663185841, "return_to_base": 0.002462985109822124}}} |
{"battery_percent": 3.6, "distance_to_base": 10.08, "distance_to_target": 19.52, "heading_to_target_deg": 33.02, "nearest_obstacle": {"clearance_m": 10.35, "radius_m": 0.44}, "nearest_teammate": {"battery_percent": 36.7, "distance_m": 4.72, "radio_link_degraded": true}, "position": [-7.47, -6.76], "radio_link_degraded"... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.0032966338138238223, "hold_position": 0.09241000248372043, "move_to_target": 0.009403517371216497, "request_swarm_help": 0.002362141347101051, "return_to_base": 0.8925277049841381}}} |
{"battery_percent": 61.7, "distance_to_base": 15.35, "distance_to_target": 19.42, "heading_to_target_deg": 40.2, "nearest_obstacle": {"clearance_m": 1.92, "radius_m": 0.89}, "nearest_teammate": {"battery_percent": 48.8, "distance_m": 10.76, "radio_link_degraded": false}, "position": [-7.67, -8.98], "radio_link_degraded... | {"next_action": {"criteria": {"avoid_obstacle": "An obstacle or a teammate is close enough that the direct path is unsafe; steer around it.", "hold_position": "Conditions are too uncertain or congested to move safely and no teammate is reachable to help; stay put and wait for the situation to clear.", "move_to_target":... | {"next_action": {"probabilities": {"avoid_obstacle": 0.06161218544568659, "hold_position": 0.4552558946358968, "move_to_target": 0.408250086333621, "request_swarm_help": 0.044147059984713154, "return_to_base": 0.030734773600082445}}} |
End of preview. Expand in Data Studio
Swarm-Laya Decisions
Part of Swarm-Laya, an unofficial, independent fine-tune of Laya by Nandhakishor M — not affiliated with or endorsed by the original project. This dataset is wholly original synthetic data, generated independently, not derived from any Laya-provided materials.
Simulation-only. Generated entirely in a PyBullet swarm simulator — no physical robots or real sensors were involved. See Aditharavind/swarm-laya for the full pipeline that produced this data.
Synthetic per-robot decision states for swarm robotics, formatted for
Laya's typed-decision fine-tuning
recipe. Each row is one robot at one simulated timestep: a state (its
position, battery, distance/heading to target and base, nearest-obstacle
clearance, nearest-teammate distance, radio and sensor-noise status), a fixed
questions schema (one choice question, next_action, over five options),
and gold — a hand-coded potential-field expert policy's soft probability
distribution over those five actions, not a hard label, so it supervises
RLCD's proper-scoring-rule objective directly.
How it was generated
A PyBullet simulator (headless, DIRECT mode) draws a randomized scenario —
robot count, obstacle count and positions, a shared target, per-robot
battery, radio dropout and sensor noise — and steps every robot in closed
loop under a potential-field expert controller that scores five actions
(move_to_target, avoid_obstacle, return_to_base, request_swarm_help,
hold_position) and turns the scores into a temperature-softened
distribution. See swarm_env/expert_policy.py and
data_generation/generate_dataset.py in the source repo for the exact logic.
Splits
| split | rows | scenario family |
|---|---|---|
train |
5,368 | 2-8 robots, 3-14 obstacles (class-balanced, capped per action) |
val |
603 | same family, disjoint scenario seeds from train |
test |
611 | same family, disjoint scenario seeds from train/val |
ood_generalization |
24,650 | 9-16 robots, 16-28 obstacles — a family never seen in train/val/test, for measuring generalization, not accuracy on a held-out slice of the same distribution |
Schema
Three string columns, each JSON-encoded (matching the row format Laya's own fine-tuning notebook expects):
{
"state": "{\"robot_id\": 4, \"position\": [-3.43, -2.05], \"battery_percent\": 63.6, \"distance_to_target\": 8.53, \"heading_to_target_deg\": -32.06, \"distance_to_base\": 3.99, \"sensor_noise_std_m\": 0.4, \"radio_link_degraded\": true, \"teammates_in_comm_range\": 0, \"swarm_size\": 5, \"nearest_obstacle\": {\"clearance_m\": 1.99, \"radius_m\": 0.8}, \"nearest_teammate\": {\"distance_m\": 3.9, \"battery_percent\": 0.0, \"radio_link_degraded\": false}}",
"questions": "{\"next_action\": {\"type\": \"choice\", \"instructions\": \"Given this robot's state within the swarm, what should it do next?\", \"criteria\": {\"move_to_target\": \"...\", \"avoid_obstacle\": \"...\", \"return_to_base\": \"...\", \"request_swarm_help\": \"...\", \"hold_position\": \"...\"}}}",
"gold": "{\"next_action\": {\"probabilities\": {\"move_to_target\": 0.67, \"avoid_obstacle\": 0.03, \"return_to_base\": 0.02, \"request_swarm_help\": 0.02, \"hold_position\": 0.25}}}"
}
Use
from datasets import load_dataset
ds = load_dataset("Aditharavind/swarm-laya-decisions")
Or point Laya's fine-tuning notebook's preprocessing cell at these files
directly (see training/preprocess.py in the source repo, which does
exactly that).
License
Apache 2.0, matching Laya's own license.
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