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Add 0.5B Alpamayo validation

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2026-07-11 13:08:42 +08:00
commit fb1bd51046
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results/complete_comparison/waypoints.csv
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waypoint_index,source_future_index,time_s,gt_action_x,gt_action_y,vlm_action_x,vlm_action_y,diffusion_action_x,diffusion_action_y,vlm_action_error_l2,diffusion_action_error_l2,gt_x_m,gt_y_m,vlm_x_m,vlm_y_m,diffusion_x_m,diffusion_y_m,vlm_position_error_m,diffusion_position_error_m
1,0,0.1,-3.4397106170654297,-1.6662895679473877,-3.4330708980560303,-1.6692912578582764,-3.84375,-0.443359375,0.00728670095756034,1.2879464584308167,0.9489696025848389,-0.00039592807297594845,0.9537601470947266,-0.0006286799907684326,0.657459020614624,0.09442976862192154,0.004796195383473365,0.30654580759535116
2,4,0.5,0.46647655963897705,-1.6230756044387817,0.4724407196044922,-1.6062991619110107,-0.68017578125,-1.453125,0.01780506186402779,1.1591785017050988,4.71621561050415,0.002558943582698703,4.725309371948242,0.0036270394921302795,3.5974063873291016,0.11056257039308548,0.009156272498882664,1.1240101695561981
3,8,0.9,0.3931064307689667,-1.3917449712753296,0.40944862365722656,-1.4173228740692139,-0.204345703125,-2.953125,0.03035286444028776,1.6717824758008162,8.430525779724121,0.023451128974556923,8.451410293579102,0.02253592759370804,6.880660533905029,0.010385759174823761,0.02090455721909409,1.5499203153987877
4,12,1.3,0.26794740557670593,-1.1304054260253906,0.2834644317626953,-1.1023621559143066,1.0224609375,-0.82275390625,0.032050009363179546,0.8148252128373736,12.054534912109375,0.06460751593112946,12.086614608764648,0.06586679071187973,11.049043655395508,0.07539737224578857,0.03210440328783258,1.0055491476438747
5,16,1.7000000000000002,0.1750280112028122,-0.931678295135498,0.15748023986816406,-0.9133858680725098,-0.126953125,-0.8857421875,0.025348316840923476,0.3054549600301843,15.611503601074219,0.12117315828800201,15.630922317504883,0.12385082244873047,14.38813591003418,0.1355248987674713,0.019602459875540927,1.2234518707065785
6,21,2.2,1.3138797283172607,-0.017029158771038055,1.2913384437561035,-0.03149604797363281,2.5078125,-0.9423828125,0.02678433110733247,1.5105478634480827,19.990142822265625,0.24866046011447906,19.993297576904297,0.25021636486053467,19.628185272216797,0.19126051664352417,0.003517572516526143,0.36648058822783336
7,25,2.6,-0.0019493416184559464,-0.05992039293050766,-0.03149604797363281,-0.03149604797363281,0.2435302734375,-0.045867919921875,0.04099940539405987,0.24588150277253198,23.419424057006836,0.37282198667526245,23.401260375976562,0.37658190727233887,23.234577178955078,0.31651169061660767,0.018548754984252572,0.19323358343645852
8,29,3.0,0.07472366094589233,0.23706550896167755,0.09448814392089844,0.2204723358154297,1.005859375,0.17138671875,0.025806359338943326,0.9334492066902851,26.904024124145508,0.5200117230415344,26.90011978149414,0.5224850177764893,27.39098358154297,0.4586087167263031,0.004621804667577402,0.49081548705534744
9,33,3.4000000000000004,0.13519389927387238,0.3722502589225769,0.15748023986816406,0.34645652770996094,0.12469482421875,0.52001953125,0.034088085117141044,0.14814178485892907,30.432252883911133,0.6776836514472961,30.444427490234375,0.6781569123268127,30.911636352539062,0.6277386546134949,0.01218380133562631,0.4819782284527732
10,37,3.8000000000000003,0.06780000776052475,0.21779732406139374,0.09448814392089844,0.2204723358154297,0.432373046875,-0.6748046875,0.026821862343970004,0.9641845528178778,33.91185760498047,0.8233793377876282,33.94328689575195,0.8240600228309631,34.65427780151367,0.7042222023010254,0.03143666093157371,0.7519216522735415
11,42,4.3,1.1512386798858643,1.035483717918396,1.1653542518615723,1.039370059967041,1.95703125,0.78125,0.014640800071050068,0.84494760155749,38.173152923583984,1.0324782133102417,38.21476745605469,1.033460259437561,39.496944427490234,0.8936078548431396,0.04162611833154021,1.331055566937441
12,46,4.7,-0.15684714913368225,0.8499115109443665,-0.15748023986816406,0.8503937721252441,2.060546875,1.314453125,0.0007958515720084112,2.2655319837630143,41.49067687988281,1.2271878719329834,41.53183364868164,1.2282073497772217,44.41429901123047,1.124337911605835,0.04116939340134956,2.925430648852423
13,50,5.1000000000000005,-0.2395608276128769,0.9665660858154297,-0.2204723358154297,0.9763779640197754,-0.9697265625,2.46875,0.021462606388743272,1.6702390584698135,44.7485237121582,1.4309428930282593,44.80345153808594,1.4327231645584106,47.14533615112305,1.4445719718933105,0.054956668638742615,2.3968511884068464
14,54,5.5,-0.2766667306423187,0.9057282209396362,-0.2834646701812744,0.9133858680725098,-0.52783203125,1.48046875,0.010239704174774942,0.6272245881452143,47.97959899902344,1.6299805641174316,48.029624938964844,1.6323546171188354,50.19519805908203,1.688174843788147,0.050082240312057325,2.2163631852922747
15,58,5.9,-0.44114238023757935,0.7915734648704529,-0.4724409580230713,0.7874016761779785,-1.5810546875,0.258056640625,0.03157538269426274,1.2585866160107093,51.09200668334961,1.8201667070388794,51.11945343017578,1.8222172260284424,52.48516845703125,1.8369922637939453,0.027523236355242352,1.393263373166715
16,63,6.4,0.5104826092720032,1.4437676668167114,0.535433292388916,1.4173226356506348,-1.0625,1.236328125,0.03635761627740968,1.5866018569828055,54.8910026550293,2.0609238147735596,54.93644714355469,2.0609238147735596,55.14927673339844,2.061664581298828,0.045444488525390625,0.2582751406784516
1 waypoint_index source_future_index time_s gt_action_x gt_action_y vlm_action_x vlm_action_y diffusion_action_x diffusion_action_y vlm_action_error_l2 diffusion_action_error_l2 gt_x_m gt_y_m vlm_x_m vlm_y_m diffusion_x_m diffusion_y_m vlm_position_error_m diffusion_position_error_m
2 1 0 0.1 -3.4397106170654297 -1.6662895679473877 -3.4330708980560303 -1.6692912578582764 -3.84375 -0.443359375 0.00728670095756034 1.2879464584308167 0.9489696025848389 -0.00039592807297594845 0.9537601470947266 -0.0006286799907684326 0.657459020614624 0.09442976862192154 0.004796195383473365 0.30654580759535116
3 2 4 0.5 0.46647655963897705 -1.6230756044387817 0.4724407196044922 -1.6062991619110107 -0.68017578125 -1.453125 0.01780506186402779 1.1591785017050988 4.71621561050415 0.002558943582698703 4.725309371948242 0.0036270394921302795 3.5974063873291016 0.11056257039308548 0.009156272498882664 1.1240101695561981
4 3 8 0.9 0.3931064307689667 -1.3917449712753296 0.40944862365722656 -1.4173228740692139 -0.204345703125 -2.953125 0.03035286444028776 1.6717824758008162 8.430525779724121 0.023451128974556923 8.451410293579102 0.02253592759370804 6.880660533905029 0.010385759174823761 0.02090455721909409 1.5499203153987877
5 4 12 1.3 0.26794740557670593 -1.1304054260253906 0.2834644317626953 -1.1023621559143066 1.0224609375 -0.82275390625 0.032050009363179546 0.8148252128373736 12.054534912109375 0.06460751593112946 12.086614608764648 0.06586679071187973 11.049043655395508 0.07539737224578857 0.03210440328783258 1.0055491476438747
6 5 16 1.7000000000000002 0.1750280112028122 -0.931678295135498 0.15748023986816406 -0.9133858680725098 -0.126953125 -0.8857421875 0.025348316840923476 0.3054549600301843 15.611503601074219 0.12117315828800201 15.630922317504883 0.12385082244873047 14.38813591003418 0.1355248987674713 0.019602459875540927 1.2234518707065785
7 6 21 2.2 1.3138797283172607 -0.017029158771038055 1.2913384437561035 -0.03149604797363281 2.5078125 -0.9423828125 0.02678433110733247 1.5105478634480827 19.990142822265625 0.24866046011447906 19.993297576904297 0.25021636486053467 19.628185272216797 0.19126051664352417 0.003517572516526143 0.36648058822783336
8 7 25 2.6 -0.0019493416184559464 -0.05992039293050766 -0.03149604797363281 -0.03149604797363281 0.2435302734375 -0.045867919921875 0.04099940539405987 0.24588150277253198 23.419424057006836 0.37282198667526245 23.401260375976562 0.37658190727233887 23.234577178955078 0.31651169061660767 0.018548754984252572 0.19323358343645852
9 8 29 3.0 0.07472366094589233 0.23706550896167755 0.09448814392089844 0.2204723358154297 1.005859375 0.17138671875 0.025806359338943326 0.9334492066902851 26.904024124145508 0.5200117230415344 26.90011978149414 0.5224850177764893 27.39098358154297 0.4586087167263031 0.004621804667577402 0.49081548705534744
10 9 33 3.4000000000000004 0.13519389927387238 0.3722502589225769 0.15748023986816406 0.34645652770996094 0.12469482421875 0.52001953125 0.034088085117141044 0.14814178485892907 30.432252883911133 0.6776836514472961 30.444427490234375 0.6781569123268127 30.911636352539062 0.6277386546134949 0.01218380133562631 0.4819782284527732
11 10 37 3.8000000000000003 0.06780000776052475 0.21779732406139374 0.09448814392089844 0.2204723358154297 0.432373046875 -0.6748046875 0.026821862343970004 0.9641845528178778 33.91185760498047 0.8233793377876282 33.94328689575195 0.8240600228309631 34.65427780151367 0.7042222023010254 0.03143666093157371 0.7519216522735415
12 11 42 4.3 1.1512386798858643 1.035483717918396 1.1653542518615723 1.039370059967041 1.95703125 0.78125 0.014640800071050068 0.84494760155749 38.173152923583984 1.0324782133102417 38.21476745605469 1.033460259437561 39.496944427490234 0.8936078548431396 0.04162611833154021 1.331055566937441
13 12 46 4.7 -0.15684714913368225 0.8499115109443665 -0.15748023986816406 0.8503937721252441 2.060546875 1.314453125 0.0007958515720084112 2.2655319837630143 41.49067687988281 1.2271878719329834 41.53183364868164 1.2282073497772217 44.41429901123047 1.124337911605835 0.04116939340134956 2.925430648852423
14 13 50 5.1000000000000005 -0.2395608276128769 0.9665660858154297 -0.2204723358154297 0.9763779640197754 -0.9697265625 2.46875 0.021462606388743272 1.6702390584698135 44.7485237121582 1.4309428930282593 44.80345153808594 1.4327231645584106 47.14533615112305 1.4445719718933105 0.054956668638742615 2.3968511884068464
15 14 54 5.5 -0.2766667306423187 0.9057282209396362 -0.2834646701812744 0.9133858680725098 -0.52783203125 1.48046875 0.010239704174774942 0.6272245881452143 47.97959899902344 1.6299805641174316 48.029624938964844 1.6323546171188354 50.19519805908203 1.688174843788147 0.050082240312057325 2.2163631852922747
16 15 58 5.9 -0.44114238023757935 0.7915734648704529 -0.4724409580230713 0.7874016761779785 -1.5810546875 0.258056640625 0.03157538269426274 1.2585866160107093 51.09200668334961 1.8201667070388794 51.11945343017578 1.8222172260284424 52.48516845703125 1.8369922637939453 0.027523236355242352 1.393263373166715
17 16 63 6.4 0.5104826092720032 1.4437676668167114 0.535433292388916 1.4173226356506348 -1.0625 1.236328125 0.03635761627740968 1.5866018569828055 54.8910026550293 2.0609238147735596 54.93644714355469 2.0609238147735596 55.14927673339844 2.061664581298828 0.045444488525390625 0.2582751406784516