[
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    "target_subtask": "steer_left",
    "task_instruction": "Follow the visible road.",
    "predicted_subtask": "steer_left",
    "vlm_action_tokens_valid": true,
    "vlm_trajectory_mse": 0.07854792475700378,
    "diffusion_trajectory_mse": 0.14029410481452942
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    "sample_id": "314f59c2-e420-4fcd-9df2-a51d572e0c20_1503899:aug1",
    "target_subtask": "steer_left",
    "task_instruction": "Follow the visible road.",
    "predicted_subtask": "steer_left",
    "vlm_action_tokens_valid": true,
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    "diffusion_trajectory_mse": 0.11049529910087585
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  {
    "sample_id": "314f59c2-e420-4fcd-9df2-a51d572e0c20_1503899:aug2",
    "target_subtask": "steer_left",
    "task_instruction": "Follow the visible road.",
    "predicted_subtask": "steer_left",
    "vlm_action_tokens_valid": true,
    "vlm_trajectory_mse": 0.013774838298559189,
    "diffusion_trajectory_mse": 0.04682297259569168
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  {
    "sample_id": "314f59c2-e420-4fcd-9df2-a51d572e0c20_1503899:aug3",
    "target_subtask": "steer_left",
    "task_instruction": "Follow the visible road.",
    "predicted_subtask": "steer_left",
    "vlm_action_tokens_valid": true,
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    "diffusion_trajectory_mse": 0.1004234328866005
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]