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Exp14 Step 0-B: BBox Nav (Exp10 ckpt)

Exp10 학습된 체크포인트(IoU 0.87)로 basket BBox 추출 → rule-based action. Step 0 (pure Kosmos-2, PM 31%) 대비 grounding 품질 개선으로 얼마나 올라가는가?

Overall PM: 34.4% (31/90)

PM per Path Type

Path TypeCorrect/TotalPM
center_straight5/1050.0%
center_left2/1020.0%
center_right4/1040.0%
left_straight4/1040.0%
left_left4/1040.0%
left_right4/1040.0%
right_straight2/1020.0%
right_left3/1030.0%
right_right3/1030.0%

center_straight 5/10 = 50.0%

FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
LEFT vs GT FORWARD
cx=0.02 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "

center_left 2/10 = 20.0%

RIGHT vs GT LEFT
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+L
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
LEFT vs GT FORWARD
cx=0.02 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FWD+R
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT LEFT
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+L
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FWD+R
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "

center_right 4/10 = 40.0%

RIGHT vs GT RIGHT
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FWD+R
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FWD+L
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT RIGHT
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+R
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
LEFT vs GT FORWARD
cx=0.02 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FWD+L
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "

left_straight 4/10 = 40.0%

RIGHT vs GT ROT_R
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT ROT_R
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "

left_left 4/10 = 40.0%

RIGHT vs GT FWD+L
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+L
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+L
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+L
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
LEFT vs GT FORWARD
cx=0.02 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "

left_right 4/10 = 40.0%

RIGHT vs GT FWD+R
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+R
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
LEFT vs GT FORWARD
cx=0.02 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+R
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+R
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
LEFT vs GT FORWARD
cx=0.02 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "

right_straight 2/10 = 20.0%

RIGHT vs GT ROT_L
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT ROT_L
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "

right_left 3/10 = 30.0%

RIGHT vs GT FWD+L
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+L
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+L
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+L
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "

right_right 3/10 = 30.0%

RIGHT vs GT RIGHT
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+R
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+R
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FWD+R
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
RIGHT vs GT FORWARD
cx=0.98 area=0.00
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "
FORWARD vs GT FORWARD
. the, to and of as in I that' for is was- on’ it with The as at bet he have from by are "