Model: gemini-3-pro-preview

# Spatial Exploration Task

You are a spatial reasoner in a 2D, text-only N×M grid. Every object including you is a point at integer (x, y) coordinates.

Goal: **Minimize total COST** while building a complete and accurate map of the environment.

Multi-room rules (may exist multiple rooms):
- Your vision is confined to your current room.
- Doors block vision between rooms.
- Exception: When located in a doorway, door is open and invisible, you can see into both connected rooms.
- Rooms connect via doors on vertical (front/back) or horizontal (left/right) walls.


Relationship instructions:
Relationship: bearing in degrees; distance is Euclidean. Use binned labels.
Bearing is a degree in [-180, 180]; 0° is front. +: clockwise, -: counterclockwise.
Orientation:
-forward/backward/right/left (ego) or north/east/south/west (allo).
-When agent faces north: forward = north, right = east, etc.
-Gate's orientation: report wall position (e.g., 'on left wall').
Binned relationship reporting:
EgoFront (egocentric, object-to-agent); Cardinal (object-to-object).
Egocentric angle bins (0° is front): [-45°,-22.5°)→front-left, [-22.5°,0°)→front-slight-left, 0°→front, (0°,22.5°]→front-slight-right, (22.5°,45°]→front-right, otherwise→beyond-fov.
Cardinal angle bins (45° each): (-22.5°,22.5°]→north, (22.5°,67.5°]→north east, (67.5°,112.5°]→east, (112.5°,157.5°]→south east, (157.5°,202.5°]→south, (202.5°,247.5°]→south west, (247.5°,292.5°]→west, (292.5°,337.5°]→north west,
Distance bins: =0→same distance, (0,2]→near, (2,4]→mid distance, (4,8]→slightly far, (8,16]→far, (16,32]→very far, 32→extremely far.
Proximity: relations between close objects (≤2.0m). Use cardinal directions and standard distance bins.

Action Instructions:
You can jump to objects within and across rooms, turn, and observe.
When you are at a door, you can see objects from both connected rooms (within FOV).

Available Actions:
Movement (<M>):
- JumpTo(OBJ): Jump to the same position as the object or door. Your orientation does NOT change. The object you jump to MUST be in your field of view and previously observed. Use object or door names only. NO numbers or directions or others. Invalid: JumpTo(left), JumpTo(1).
- Rotate(DEG): Rotate relative to your current orientation. Positive = clockwise, negative = counterclockwise. Valid: -270, -180, -90, 0, 90, 180, 270. You must rotate by these specified degrees; otherwise your action will be invalid.
Final (<F>):
- Observe(): Report objects (including doors) and their spatial relationships from your current position in your FOV. Also reports relations between mutually close objects in your FOV, using your current facing direction as north (a relative reference frame, not true north).Use exactly one Observe() per step and make it the last action. Never call Term() after Observe().
- Query(obj): Return object's coordinates with agent's initial position as origin, north as y+ axis. You can only query objects that you have previously observed. High cost, only use when necessary to eliminate ambiguities.
- Term(): Terminate the exploration phase. Term() must be alone with no movement actions. You MUST ONLY use it in the last turn and no other turns. Otherwise your action sequence will be invalid.

Action Grammar (HARD CONSTRAINT):
Actions: [ <M>* <F> ]
<M> = "JumpTo(OBJ)" | "Rotate(DEG)"
<F> = "Observe()" | "Query(OBJ)" | "Term()"
Constraints:
- Zero, one or more <M>. No JumpTo at first step.
- Exactly one <F>, and it must be the final action.
- No more than one Observe().
- Term() may appear only alone.
- Any violation is invalid.

Examples:
Valid: Actions: [JumpTo(red door), Rotate(90), JumpTo(table), Observe()]
Valid: Actions: [Observe()] | Query(table)
Invalid (no final action): Actions: [JumpTo(table)]
Invalid (more than one final action): Actions: [Observe(), Rotate(90), Observe()]
Invalid (termination with other actions): Actions: [JumpTo(table), Term()]


Rules:
- Observe action only reports from your current position and facing direction. If you jump multiple times, the final Observe() action gives the view only from your last position.
- Actions execute in order. Field of view: 90°.

Observe and Query action have costs:
- Observe(): 1
- Query(obj): 2


Rules:
- Achieve complete coverage with the fewest steps;
- Prefer actions that reveal more unknowns; avoid redundancy
- FOV is 90°, you can NOT see objects outside your FOV.
- Track your current and initial pose


Room Layout and initial state:
Imagine 3 rooms connected by doors: room 1, room 2, room 3. You current (initial) position is in room 1 and you face north. Unless otherwise specified, treat your initial position as the origin (0, 0), and north is +y.
Objects: 1: television, 2: shoppingcart, 3: chair, 4: teddybear, 5: scooter, 6: desklamp, 7: bike, 8: vase, 9: shoes, 10: plant, 11: shelf, 12: basket
Doors: yellow door, green door


You have a maximum of 20 exploration steps.



Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

# Spatial Exploration Task

You are a spatial reasoner in a 2D, text-only N×M grid. Every object including you is a point at integer (x, y) coordinates.

Goal: **Minimize total COST** while building a complete and accurate map of the environment.

Multi-room rules (may exist multiple rooms):
- Your ...

The agent begins at position (0,0) facing North in Room 1. The environment is currently unknown. The primary objective is to map the environment by finding all objects and doors with minimum cost. Since the agent cannot jump to objects it hasn't seen yet, and the field of view is limited to 90 degrees, the first logical step is to observe the area immediately in front (North). This will provide an initial set of landmarks (objects or doors) and help determine the dimensions of the current room or the location of walls. No movement actions like `Rotate` are necessary before this initial observation because the starting orientation is arbitrary but standard.

The agent begins at position (0,0) facing North in Room 1. The environment is currently unknown. The primary objective is to map the environment by finding all objects and doors with minimum cost. Since the agent cannot jump to objects it hasn't seen yet, and the field of view is limited to 90 degre...

THINK: [Based on the observation, the agent is at [0,0] facing North. The teddybear is front-right (22.5°-45°) at mid distance (2-4m), and the bike is front-slight-right (0°-22.5°) at slightly far (4-8m). The vase is front-left (-45° to -22.5°) at mid distance. The teddybear is noted as being south of and near (<=2m) the bike. Placing the bike at [2,5] gives an angle of ~22° (borderline but acceptable) and distance ~5.4m. Placing the teddybear at [2,3] gives an angle of ~33° (fits front-right) and distance ~3.6m. The distance between them is 2m, which is "near". [2,3] is south of [2,5]. The vase at [-2,3] gives an angle of -34° (front-left) and distance ~3.6m. Object facings: teddybear faces right (East), bike faces right (East).]
FINAL ANSWER:
```json
{
"agent": {"position": [0, 0], "facing": "north"},
"teddybear": {"position": [2, 3], "facing": "east"},
"bike": {"position": [2, 5], "facing": "east"},
"vase": {"position": [-2, 3]}
}
```

THINK: [Based on the observation, the agent is at [0,0] facing North. The teddybear is front-right (22.5°-45°) at mid distance (2-4m), and the bike is front-slight-right (0°-22.5°) at slightly far (4-8m). The vase is front-left (-45° to -22.5°) at mid distance. The teddybear is noted as being south ...

{
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "north"
  },
  "teddybear": {
    "position": [
      2,
      3
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      2,
      5
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      3
    ]
  }
}

{
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "north"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "north"
  }
}

THINK: [Based on the observation, the agent is at the origin (0,0) facing +y (North).
- **Teddybear**: Observed at 'front-right' (angle ~22.5°-45°) and 'mid distance' (2-4m). Proximity indicates it is 'near' (<=2m) and 'south' of the bike. Estimated position: (2, 3). 'Facing right' corresponds to facing +x.
- **Bike**: Observed at 'front-slight-right' (angle 0°-22.5°) and 'slightly far' (4-8m). To satisfy the proximity constraint (teddybear is south and near), the bike must be slightly further north at a similar x-coordinate. Estimated position: (2, 5). Distance between (2,3) and (2,5) is 2m, fitting 'near'. 'Facing right' corresponds to facing +x.
- **Vase**: Observed at 'front-left' (angle -45°-0°) and 'mid distance' (2-4m). Estimated position: (-2, 3).]
FINAL ANSWER: {
"origin": "agent",
"objects": {
"teddybear": {"position": [2, 3], "facing": "+x"},
"bike": {"position": [2, 5], "facing": "+x"},
"vase": {"position": [-2, 3]}
}
}

THINK: [Based on the observation, the agent is at the origin (0,0) facing +y (North).
- **Teddybear**: Observed at 'front-right' (angle ~22.5°-45°) and 'mid distance' (2-4m). Proximity indicates it is 'near' (<=2m) and 'south' of the bike. Estimated position: (2, 3). 'Facing right' corresponds to fa...

{
  "origin": "agent",
  "objects": {
    "teddybear": {
      "position": [
        2,
        3
      ],
      "facing": "+x"
    },
    "bike": {
      "position": [
        2,
        5
      ],
      "facing": "+x"
    },
    "vase": {
      "position": [
        -2,
        3
      ]
    }
  }
}

{
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  }
}

{
  "origin": "agent",
  "objects": {
    "teddybear": {
      "position": [
        2,
        3
      ],
      "facing": "+x"
    },
    "bike": {
      "position": [
        2,
        5
      ],
      "facing": "+x"
    },
    "vase": {
      "position": [
        -2,
        3
      ]
    }
  }
}

{
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  }
}

THINK: [The agent is at position '*' facing North (Up). The Field of View (FOV) is 90 degrees, centered on North, meaning the visible angular range is [-45°, +45°] relative to the agent's forward vector.
By aligning the ASCII map:
- The agent '*' is at column index 10 (relative to the row start).
- Candidate B is at column 10, 1 row North. (Angle 0°, Visible)
- Candidate F is at column 10, 2 rows North. (Angle 0°, Visible)
- Candidate E is at column 10, 3 rows North. (Angle 0°, Visible)
- Candidate A is at column 8, 1 row North. Relative position (-2, 1). Angle arctan(-2/1) ≈ -63°. This is outside the [-45°, 45°] FOV cone (beyond front-left). Thus, A is unobserved.
- Candidate C is at column 13, 1 row North. Relative position (+3, 1). Angle arctan(3/1) ≈ +71°. This is outside the [-45°, 45°] FOV cone (beyond front-right). Thus, C is unobserved.
- Candidate D is at column 13, 1 row South. Relative position (+3, -1). This is behind the agent. Thus, D is unobserved.

Therefore, the unobserved/unexplored points are A, C, and D.]
FINAL ANSWER:
```json
{
"unexplored": ["A", "C", "D"]
}
```

THINK: [The agent is at position '*' facing North (Up). The Field of View (FOV) is 90 degrees, centered on North, meaning the visible angular range is [-45°, +45°] relative to the agent's forward vector.
By aligning the ASCII map:
- The agent '*' is at column index 10 (relative to the row start).
-...

######################
#......###############
#......#......#......#
#......#..E...+......#
#......#..F...#......#
#......#A.B..C#......#
#......+..*...#......#
########.....D#......#
######################

You observe:
• teddybear: front-right, mid distance, facing right
• bike: front-slight-right, slightly far, facing right
• vase: front-left, mid distance
Assume your current facing direction is called "north":
• teddybear is south, near to bike.
You have a maximum of 19 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You observe:
• teddybear: front-right, mid distance, facing right
• bike: front-slight-right, slightly far, facing right
• vase: front-left, mid distance
Assume your current facing direction is called "north":
• teddybear is south, near to bike.
You have a maximum of 19 exploration steps left.
Stri...

The agent has observed the area to the North (covering roughly NW to NE). To continue mapping Room 1 efficiently, the agent should rotate to view the remaining sectors from the current position. Rotating 90 degrees clockwise will allow the agent to face East and observe the area from NE to SE. This will help discover new objects or doors in that direction.

The agent has observed the area to the North (covering roughly NW to NE). To continue mapping Room 1 efficiently, the agent should rotate to view the remaining sectors from the current position. Rotating 90 degrees clockwise will allow the agent to face East and observe the area from NE to SE. This ...

THINK:
The agent has successfully observed the northern and eastern sectors of Room 1.
From the initial position (0,0) facing North:
- **Teddybear**: Located at roughly (1, 2), "front-right" (NE) and "mid distance". It faces East ("facing right").
- **Bike**: Located at roughly (1, 4), "front-slight-right" (NNE) and "slightly far". It faces East ("facing right"). The report "teddybear is south, near to bike" supports these relative positions (1,2 is south of 1,4 and distance is 2, which is "near").
- **Vase**: Located at roughly (-2, 2), "front-left" (NW) and "mid distance".

From the position (0,0) facing East:
- **Television**: Located at roughly (3, 0), "front" (East) and "mid distance". It faces South ("facing right" relative to East-facing agent).
- **Green door**: Located at roughly (4, 2), "front-left" (NE relative to agent, i.e., North of East-axis) and "slightly far". The "on front wall" description implies it is on the East wall of the room (x=4).

The current map hypothesis places the East wall at x=4. The North wall is likely beyond y=4. The West wall is likely beyond x=-2.
The agent is currently facing East. To complete the scan of Room 1, the agent should observe the remaining sectors (South and West). Rotating 90 degrees clockwise again (to face South) is a logical next step to continue the systematic sweep.

FINAL ANSWER:
```json
{
"agent": {"position": [0, 0], "facing": "east"},
"teddybear": {"position": [1, 2], "facing": "east"},
"bike": {"position": [1, 4], "facing": "east"},
"vase": {"position": [-2, 2]},
"television": {"position": [3, 0], "facing": "south"},
"green door": {"position": [4, 2]}
}
```

THINK:
The agent has successfully observed the northern and eastern sectors of Room 1.
From the initial position (0,0) facing North:
- **Teddybear**: Located at roughly (1, 2), "front-right" (NE) and "mid distance". It faces East ("facing right").
- **Bike**: Located at roughly (1, 4), "front-slight...

{
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "east"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ]
  },
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "green door": {
    "position": [
      4,
      2
    ]
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "east"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "east"
  }
}

THINK: [Your thoughts on cognitive map]
The agent is currently facing East (local +y). The observed objects are `television` and `green door`.
1. `television`: Observed "front" at "mid distance".
- Local coordinates: Front corresponds to the +y axis. Mid distance is roughly 3 units. So, position roughly [0, 3].
- Orientation: "facing right". Relative to the agent facing East, "right" is South. In the local frame (+y=East, +x=South), facing South corresponds to facing +x.
2. `green door`: Observed "front-left" at "slightly far".
- Local coordinates: Front-left corresponds to the -x, +y quadrant. Slightly far is roughly 6 units. Angle is roughly 45 degrees left. Cos(45)*6 ≈ 4. So position roughly [-4, 4]. Alternatively, a bit more forward: [-3, 5]. Let's use [-3, 5].
- "on front wall" implies the wall normal is likely facing the agent (West) or the door is along that wall. But the map only asks for position.

FINAL ANSWER:
```json
{
"origin": "agent",
"objects": {
"television": {"position": [0, 3], "facing": "+x"},
"green door": {"position": [-3, 5]}
}
}
```

THINK: [Your thoughts on cognitive map]
The agent is currently facing East (local +y). The observed objects are `television` and `green door`.
1. `television`: Observed "front" at "mid distance".
- Local coordinates: Front corresponds to the +y axis. Mid distance is roughly 3 units. So, position ...

{
  "origin": "agent",
  "objects": {
    "television": {
      "position": [
        0,
        3
      ],
      "facing": "+x"
    },
    "green door": {
      "position": [
        -3,
        5
      ]
    }
  }
}

{
  "green door": {
    "position": [
      -3,
      4
    ],
    "facing": "east"
  },
  "television": {
    "position": [
      0,
      3
    ],
    "facing": "south"
  }
}

{
  "origin": "agent",
  "objects": {
    "television": {
      "position": [
        0,
        3
      ],
      "facing": "+x"
    },
    "green door": {
      "position": [
        -3,
        5
      ]
    }
  }
}

{
  "green door": {
    "position": [
      -3,
      4
    ],
    "facing": "east"
  },
  "television": {
    "position": [
      0,
      3
    ],
    "facing": "south"
  }
}

THINK: [The agent is at position `*`.
The agent first faced North (Up). The FOV covers the cone from NW to NE.
- Observed `vase` at front-left (NW).
- Observed `teddybear`, `bike` at front-right (NE).
This observation likely covers points `D`, `E`, and `F` (where `F` is likely the vase or near it in the NW direction).
The agent then rotated 90° clockwise to face East (Right). The FOV covers the cone from NE to SE.
- Observed `television` at front (East).
- Observed `green door` at front-left (NE).
This observation covers the area to the East.
Candidates analysis:
- `A`: Located South (Down) of the agent. The agent has not looked South. **Unexplored.**
- `B`: Located West-North-West of the agent (left of F). The North-facing FOV [-45°, +45°] covers NW (-45°) to NE (+45°). `B` is likely at an angle more negative than -45° (e.g., -60°), placing it in the blind spot between the North view (left edge) and the West direction. **Unexplored.**
- `C`: Located West (Left) of the agent. The agent has not looked West (viewing North covers -45° to +45°; viewing East covers +45° to +135°). West is -90° (or 270°). **Unexplored.**
- `D`: Located North of the agent. Within North FOV. **Explored.**
- `E`: Located North of D. Within North FOV. **Explored.**
- `F`: Located North-West. "Front-left" observation (Vase) corresponds to this direction. Likely **Explored.**]
FINAL ANSWER: {
"unexplored": ["A", "B", "C"]
}

THINK: [The agent is at position `*`.
The agent first faced North (Up). The FOV covers the cone from NW to NE.
- Observed `vase` at front-left (NW).
- Observed `teddybear`, `bike` at front-right (NE).
This observation likely covers points `D`, `E`, and `F` (where `F` is likely the vase or near it in...

######################
#......###############
#......#......#......#
#......#......+......#
#......#.E....#......#
#......#BFD...#......#
#......+.C*...#......#
########..A...#......#
######################

You rotated clockwise 90°. You observe:
• television: front, mid distance, facing right
• green door: front-left, slightly far, on front wall.
You have a maximum of 18 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You rotated clockwise 90°. You observe:
• television: front, mid distance, facing right
• green door: front-left, slightly far, on front wall.
You have a maximum of 18 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]...

The agent faced North and saw a teddybear and bike. Then it faced East and saw a television and a "green door" on the front wall (relative to the East-facing agent, so the door is on the East wall).
The agent has covered North and East sectors of Room 1.
It still needs to check South and West to complete the view of Room 1.
To be systematic, the agent should rotate another 90 degrees clockwise to face South. This allows checking the next quadrant.

The agent faced North and saw a teddybear and bike. Then it faced East and saw a television and a "green door" on the front wall (relative to the East-facing agent, so the door is on the East wall).
The agent has covered North and East sectors of Room 1.
It still needs to check South and West to com...

THINK:
The agent has observed the North, East, and South directions from the origin (0,0).
- **North view (0,0 facing N)**:
- **Bike**: Observed "front-slight-right, slightly far". Estimated position: [1, 4] (Angle ~14° right, Dist ~4.1m).
- **Teddybear**: Observed "front-right, mid distance". "South, near to bike". Estimated position: [1, 2] (Angle ~26° right, Dist ~2.2m). This satisfies the "near" (<2m) constraint to the bike at [1, 4] and is south of it.
- **Vase**: Observed "front-left, mid distance". Estimated position: [-2, 2] (Angle ~45° left, Dist ~2.8m).
- **East view (0,0 facing E)**:
- **Television**: Observed "front, mid distance". Estimated position: [3, 0] (Along the x-axis, Dist ~3m).
- **Green door**: Observed "front-left, slightly far, on front wall". Relative to East, front-left is North-East. Estimated position: [3, 3] (Angle ~45° left of East, Dist ~4.2m). Being "on front wall" while facing East suggests it's on the East wall (x=3).
- **South view (0,0 facing S)**:
- Empty.

Current agent state: Position [0, 0], Facing South.

FINAL ANSWER:
```json
{
"agent": {"position": [0, 0], "facing": "south"},
"bike": {"position": [1, 4], "facing": "east"},
"teddybear": {"position": [1, 2], "facing": "east"},
"vase": {"position": [-2, 2]},
"television": {"position": [3, 0], "facing": "south"},
"green door": {"position": [3, 3]}
}
```

THINK:
The agent has observed the North, East, and South directions from the origin (0,0).
- **North view (0,0 facing N)**:
- **Bike**: Observed "front-slight-right, slightly far". Estimated position: [1, 4] (Angle ~14° right, Dist ~4.1m).
- **Teddybear**: Observed "front-right, mid distance". "...

{
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "south"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ]
  },
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "green door": {
    "position": [
      3,
      3
    ]
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "south"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "south"
  }
}

THINK:
The agent is currently at the initial position facing South. The latest observation reported no objects in the field of view. Therefore, the local cognitive map, which represents the current field of view relative to the agent, should contain no objects.

FINAL ANSWER:
```json
{
"origin": "agent",
"objects": {}
}
```

THINK:
The agent is currently at the initial position facing South. The latest observation reported no objects in the field of view. Therefore, the local cognitive map, which represents the current field of view relative to the agent, should contain no objects.

FINAL ANSWER:
```json
{
"origin":...

{
  "origin": "agent",
  "objects": {}
}

{
  "origin": "agent",
  "objects": {}
}

THINK: [The agent is at position '*' and has observed North, East, and South. The West direction has not been observed.
Based on the map alignment:
- The agent '*' is at column 10, row 0 (relative).
- Points A (col 9) and B (col 8) are to the West (row 0). Since the agent hasn't looked West, A and B are unobserved.
- Point E is at column 8, row 1. Relative to '*', this is (-2, 1). The angle is approx -63 degrees (North is 0). The North FOV is [-45, 45]. E falls outside the North FOV and is in the unobserved West sector. So E is unobserved.
- Point C is at column 9, row 2. Relative to '*', this is (-1, 2). The angle is approx -26 degrees. This falls within the North FOV [-45, 45]. So C is observed.
- Point D is at column 13, row 1. Relative to '*', this is (3, 1). It falls in the East FOV. So D is observed.
- Point F is at column 10, row -1. Relative to '*', this is (0, -1). This is directly South. The agent looked South and saw "No objects". The space was observed (found empty). So F is observed.
Therefore, the unexplored points are A, B, and E.]
FINAL ANSWER: {"unexplored": ["A", "B", "E"]}

THINK: [The agent is at position '*' and has observed North, East, and South. The West direction has not been observed.
Based on the map alignment:
- The agent '*' is at column 10, row 0 (relative).
- Points A (col 9) and B (col 8) are to the West (row 0). Since the agent hasn't looked West, A and B...

######################
#......###############
#......#......#......#
#......#......+......#
#......#.C....#......#
#......#E....D#......#
#......+BA*...#......#
########..F...#......#
######################

You rotated clockwise 90°. You observe: No objects in field of view..
You have a maximum of 17 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You rotated clockwise 90°. You observe: No objects in field of view..
You have a maximum of 17 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]...

The agent has observed North, East, and South (which was empty). The West sector remains unobserved. To complete the scan of Room 1 from the initial position, the agent should rotate 90 degrees clockwise again to face West.

The agent has observed North, East, and South (which was empty). The West sector remains unobserved. To complete the scan of Room 1 from the initial position, the agent should rotate 90 degrees clockwise again to face West....

THINK:
The agent is currently at [0, 0] and facing West, having just completed a 360-degree scan (North, East, South, West).
Based on the observations:
1. **Vase**: Observed "front-left" facing North and "front-right" facing West. Position estimate: [-2, 2].
2. **Teddybear**: Observed "front-right" facing North. Position estimate: [2, 2]. Orientation: "facing right" (relative to North) -> Facing East.
3. **Bike**: Observed "front-slight-right, slightly far" facing North. Position estimate: [1, 5]. Orientation: "facing right" (relative to North) -> Facing East.
4. **Television**: Observed "front" facing East. Position estimate: [3, 0]. Orientation: "facing right" (relative to East) -> Facing South.
5. **Green door**: Observed "front-left, slightly far" facing East. Position estimate: [4, 2].
6. **Yellow door**: Observed "front" facing West. Position estimate: [-3, 0].

The map reflects these estimated integer coordinates.

FINAL ANSWER:
```json
{
"agent": {"position": [0, 0], "facing": "west"},
"vase": {"position": [-2, 2]},
"teddybear": {"position": [2, 2], "facing": "east"},
"bike": {"position": [1, 5], "facing": "east"},
"television": {"position": [3, 0], "facing": "south"},
"green door": {"position": [4, 2]},
"yellow door": {"position": [-3, 0]}
}
```

THINK:
The agent is currently at [0, 0] and facing West, having just completed a 360-degree scan (North, East, South, West).
Based on the observations:
1. **Vase**: Observed "front-left" facing North and "front-right" facing West. Position estimate: [-2, 2].
2. **Teddybear**: Observed "front-right...

{
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "west"
  },
  "vase": {
    "position": [
      -2,
      2
    ]
  },
  "teddybear": {
    "position": [
      2,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      1,
      5
    ],
    "facing": "east"
  },
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "green door": {
    "position": [
      4,
      2
    ]
  },
  "yellow door": {
    "position": [
      -3,
      0
    ]
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "west"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "west"
  }
}

THINK:
The agent is currently facing West. The current observation reveals a 'vase' to the front-right and a 'yellow door' directly in front.
- The 'yellow door' is at 'mid distance' (approx 3 units) directly ahead (+y in local frame). Being on the front wall (West wall), it faces into the room (East), which is -y in the local frame.
- The 'vase' is at 'mid distance' to the front-right. Front-right corresponds to the +x, +y quadrant in the local frame. [2, 2] is a reasonable coordinate estimate for mid-distance (approx 2.8 units).
- No facing direction was reported for the vase.

FINAL ANSWER:
```json
{
"origin": "agent",
"objects": {
"vase": {"position": [2, 2]},
"yellow door": {"position": [0, 3], "facing": "-y"}
}
}
```

THINK:
The agent is currently facing West. The current observation reveals a 'vase' to the front-right and a 'yellow door' directly in front.
- The 'yellow door' is at 'mid distance' (approx 3 units) directly ahead (+y in local frame). Being on the front wall (West wall), it faces into the room (Eas...

{
  "origin": "agent",
  "objects": {
    "vase": {
      "position": [
        2,
        2
      ]
    },
    "yellow door": {
      "position": [
        0,
        3
      ],
      "facing": "-y"
    }
  }
}

{
  "vase": {
    "position": [
      2,
      2
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      0,
      3
    ],
    "facing": "east"
  }
}

{
  "origin": "agent",
  "objects": {
    "vase": {
      "position": [
        2,
        2
      ]
    },
    "yellow door": {
      "position": [
        0,
        3
      ],
      "facing": "-y"
    }
  }
}

{
  "yellow door": {
    "position": [
      0,
      3
    ],
    "facing": "east"
  }
}

You rotated clockwise 90°. You observe:
• vase: front-right, mid distance
• yellow door: front, mid distance, on front wall.
You have a maximum of 16 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You rotated clockwise 90°. You observe:
• vase: front-right, mid distance
• yellow door: front, mid distance, on front wall.
You have a maximum of 16 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]...

The agent has completed a 360-degree scan from the initial position in Room 1.
Findings in Room 1:
- North: teddybear, bike, vase (front-left relative to North, so NW).
- East: television, green door (on East wall).
- South: Empty.
- West: vase (front-right relative to West, confirms NW location), yellow door (front, so on West wall).

The agent has found two doors: "green door" (East) and "yellow door" (West).
To map the other rooms, the agent must enter them. The "yellow door" is "mid distance" away, while the "green door" is "slightly far". The yellow door appears closer.
The agent is currently facing West. The yellow door is in front.
The most efficient move is to jump to the yellow door. Being at a door allows the agent to see into both connected rooms (Room 1 and presumably Room 2).
Since the agent is currently facing West and the door is on the West wall, jumping to it maintains the orientation (West).
At the door, the agent will Observe to see what's in the new room (Room 2) and confirm its position relative to Room 1.

The agent has completed a 360-degree scan from the initial position in Room 1.
Findings in Room 1:
- North: teddybear, bike, vase (front-left relative to North, so NW).
- East: television, green door (on East wall).
- South: Empty.
- West: vase (front-right relative to West, confirms NW location), y...

THINK: [Your thoughts on cognitive map]
The agent has explored Room 1 and is currently standing at the yellow door (connection between Room 1 and Room 2), looking into Room 2 (West).

**Current Estimates:**
* **Agent:** Positioned at the yellow door. Based on the "mid distance" observation from (0,0), the door is likely around x=-3, y=0. Current facing is West.
* **Room 1 Objects (Origin frame):**
* **Teddybear:** Observed from (0,0) facing N as "front-right, mid". Approx (2, 2). Facing "right" (East).
* **Bike:** Observed from (0,0) facing N as "front-slight-right, slightly far". Approx (2, 5). Facing "right" (East).
* **Vase:** Observed from (0,0) facing N as "front-left, mid". Approx (-2, 2).
* **Television:** Observed from (0,0) facing E as "front, mid". Approx (3, 0). Facing "right" (South relative to East? No, agent facing East, right is South).
* **Green Door:** Observed from (0,0) facing E as "front-left, slightly far". Approx (4, 3).
* **Yellow Door:** Observed from (0,0) facing W as "front, mid". Approx (-3, 0).
* **Room 2 Objects (Observed from Yellow Door at (-3,0) facing West):**
* **Chair:** "Front, near". Approx (-5, 0). Facing "left" (South, relative to agent facing West).
* **Desklamp:** "Front-right, slightly far". Approx (-6, 3). Facing "forward" (West).
* **Plant:** "Front-slight-right, slightly far". Approx (-8, 1).

FINAL ANSWER:
```json
{
"agent": {"position": [-3, 0], "facing": "west"},
"teddybear": {"position": [2, 2], "facing": "east"},
"bike": {"position": [2, 5], "facing": "east"},
"vase": {"position": [-2, 2]},
"television": {"position": [3, 0], "facing": "south"},
"green door": {"position": [4, 3]},
"yellow door": {"position": [-3, 0]},
"chair": {"position": [-5, 0], "facing": "south"},
"desklamp": {"position": [-6, 3], "facing": "west"},
"plant": {"position": [-8, 1]}
}
```

THINK: [Your thoughts on cognitive map]
The agent has explored Room 1 and is currently standing at the yellow door (connection between Room 1 and Room 2), looking into Room 2 (West).

**Current Estimates:**
* **Agent:** Positioned at the yellow door. Based on the "mid distance" observation from (0...

{
  "agent": {
    "position": [
      -3,
      0
    ],
    "facing": "west"
  },
  "teddybear": {
    "position": [
      2,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      2,
      5
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ]
  },
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "green door": {
    "position": [
      4,
      3
    ]
  },
  "yellow door": {
    "position": [
      -3,
      0
    ]
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "desklamp": {
    "position": [
      -6,
      3
    ],
    "facing": "west"
  },
  "plant": {
    "position": [
      -8,
      1
    ]
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -3,
      0
    ],
    "facing": "west"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -3,
      0
    ],
    "facing": "west"
  }
}

THINK: The agent is at the yellow door, facing West (which corresponds to the local +y axis). The observations reveal three objects in the new room (Room 2). The chair is directly in front ("front") and "near", so I'll place it at [0, 2]. It faces "left", which corresponds to local -x. The desklamp is "front-right" and "slightly far", and facing "forward" (+y). The plant is "front-slight-right" and also "slightly far". The relationship indicates the desklamp is "south" of the plant in the relative frame (meaning the desklamp has a lower local y-value than the plant) and they are "near" each other. Based on the distance bins (slightly far = 4-8) and angles, I will estimate the desklamp at [3, 5] and the plant at [2, 7] or similar to satisfy the relative positioning.

FINAL ANSWER:
```json
{
"origin": "agent",
"objects": {
"chair": {"position": [0, 2], "facing": "-x"},
"desklamp": {"position": [3, 5], "facing": "+y"},
"plant": {"position": [2, 7]}
}
}
```

THINK: The agent is at the yellow door, facing West (which corresponds to the local +y axis). The observations reveal three objects in the new room (Room 2). The chair is directly in front ("front") and "near", so I'll place it at [0, 2]. It faces "left", which corresponds to local -x. The desklamp ...

{
  "origin": "agent",
  "objects": {
    "chair": {
      "position": [
        0,
        2
      ],
      "facing": "-x"
    },
    "desklamp": {
      "position": [
        3,
        5
      ],
      "facing": "+y"
    },
    "plant": {
      "position": [
        2,
        7
      ]
    }
  }
}

{
  "desklamp": {
    "position": [
      2,
      4
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      0,
      2
    ],
    "facing": "south"
  },
  "plant": {
    "position": [
      2,
      6
    ],
    "facing": "east"
  }
}

{
  "origin": "agent",
  "objects": {
    "chair": {
      "position": [
        0,
        2
      ],
      "facing": "-x"
    },
    "desklamp": {
      "position": [
        3,
        5
      ],
      "facing": "+y"
    },
    "plant": {
      "position": [
        2,
        7
      ]
    }
  }
}

{
  "desklamp": {
    "position": [
      2,
      4
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      0,
      2
    ],
    "facing": "south"
  },
  "plant": {
    "position": [
      2,
      6
    ],
    "facing": "east"
  }
}

THINK: [The agent is at position `*` (approximately coordinate (7,2) in the local map frame, facing West/Left). The field of view is 90 degrees, centered on West, covering the sector from South-West (-45°) to North-West (+45°).
Candidates A, B, and C are located to the North of the agent's West-facing vector.
- Point D is directly West, clearly visible.
- Point E (top-left) is at an angle of ~40° North of West, which falls within the 45° FOV cone.
- Point F (top-left) is at an angle of 45° North of West, which falls on the boundary of the FOV cone (included).
- Point A is at an angle of ~63° North of West, outside the FOV.
- Point B is at an angle of ~56° North of West, outside the FOV.
- Point C is at an angle of ~59° North of West, outside the FOV.
Therefore, A, B, and C are in the unobserved (fog) region.]
FINAL ANSWER:
```json
{
"unexplored": ["A", "B", "C"]
}
```

THINK: [The agent is at position `*` (approximately coordinate (7,2) in the local map frame, facing West/Left). The field of view is 90 degrees, centered on West, covering the sector from South-West (-45°) to North-West (+45°).
Candidates A, B, and C are located to the North of the agent's West-fac...

######################
#EF.C..###############
#......#......#......#
#....B.#......+......#
#.....A#......#......#
#......#......#......#
#....D.*......#......#
########......#......#
######################

You jumped to yellow door. You observe:
• chair: front, near, facing left
• desklamp: front-right, slightly far, facing forward
• plant: front-slight-right, slightly far
Assume your current facing direction is called "north":
• desklamp is south, near to plant.
You have a maximum of 15 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You jumped to yellow door. You observe:
• chair: front, near, facing left
• desklamp: front-right, slightly far, facing forward
• plant: front-slight-right, slightly far
Assume your current facing direction is called "north":
• desklamp is south, near to plant.
You have a maximum of 15 exploration ...

The agent is at the yellow door (on the West wall of Room 1) facing West, looking into Room 2.
Observations in Room 2 (relative to West facing):
- chair: front (West), near.
- desklamp: front-right (North-West), slightly far.
- plant: front-slight-right (West-North-West), slightly far.
This covers the "front" view (West) into Room 2. Since the FOV is 90 degrees, the agent sees roughly NW to SW from the door.

To fully map Room 2, the agent needs to see the other corners.
However, the agent is standing *at* the door.
The goal is to map the environment. We have found Room 2. We still need to explore Room 3, presumably accessible via the green door back in Room 1.
But first, we should ensure Room 2 is fully mapped or check if there are other doors in Room 2.
From the door, the agent can't see the corners of Room 2 that are behind the door frame relative to the view (e.g., hard left or hard right along the wall).
However, jumping into the room (e.g., to the chair) and looking around is a good strategy to find other doors or objects.
The chair is "front, near". Jumping to the chair places the agent inside Room 2.
From the chair, the agent can rotate to scan Room 2.
Wait, let's consider the cost. Jumping back to Room 1 to go to the green door is a long trip. It's better to finish Room 2 now.
Is there another door in Room 2? We haven't seen one yet.
Let's jump to the chair (central object observed) to get a better vantage point inside Room 2.
Current orientation: West.
After jumping to chair, I will still face West.
Then I should Observe.

Alternatively, I could Rotate at the door. But the door view is often limited by the doorway constraints (though the rule says "located in a doorway... see into both connected rooms").
Usually, to see the "back" of the room relative to the entry, one needs to enter.
Let's JumpTo(chair) and Observe. This moves me into Room 2.

The agent is at the yellow door (on the West wall of Room 1) facing West, looking into Room 2.
Observations in Room 2 (relative to West facing):
- chair: front (West), near.
- desklamp: front-right (North-West), slightly far.
- plant: front-slight-right (West-North-West), slightly far.
This covers t...

THINK:
The agent started at (0,0) facing North.
Initial observation (North): teddybear (front-right, mid), bike (front-slight-right, slightly far), vase (front-left, mid).
Rotated 90 deg (East): television (front, mid), green door (front-left, slightly far, on front wall).
Rotated 90 deg (South): Empty.
Rotated 90 deg (West): vase (front-right, mid), yellow door (front, mid, on front wall).

Let's estimate coordinates.
Agent at (0,0).
Facing North (+y):
- Vase: front-left, mid (2-4m). Let's say (-2, 2).
- Teddybear: front-right, mid. Let's say (2, 2).
- Bike: front-slight-right, slightly far (4-8m). Further than teddybear. Let's say (3, 5).

Facing East (+x):
- Television: front, mid. Let's say (3, 0).
- Green door: front-left, slightly far. On front wall (East wall). Front-left relative to East is NE. So maybe at (x=positive, y=positive). Wait, "on front wall" means the wall the agent is facing. Agent faces East. So the door is on the East wall. "front-left" implies it's North of the agent's y-line. Let's place the East wall at x=4. Door at (4, 2).

Facing South (-y): Empty.

Facing West (-x):
- Vase: front-right. Relative to West, right is North. So North-West. Consistent with (-2, 2).
- Yellow door: front, mid. On front wall (West wall). Mid distance (2-4m). Let's place West wall at x=-3. Door at (-3, 0).

Agent jumped to yellow door (-3, 0). Facing West.
Observations from yellow door:
- Chair: front, near (0-2m). Front is West. So (-4 or -5, 0). Let's say (-5, 0).
- Desklamp: front-right, slightly far. Front-right is NW. (-6, 2) maybe.
- Plant: front-slight-right, slightly far.

Agent jumped to chair (-5, 0). Facing West.
Observations from chair:
- Desklamp: front-right, mid. Front-right relative to West is North-West. Relative to (-5,0), this could be (-6, 2) or (-7, 2).
- Plant: front-right, slightly far.

Let's refine coordinates for the global map.
Origin (0,0).
Room 1 roughly x in [-3, 4], y in [-?, ?].
North wall? Not seen directly, but objects up to y=5.
South wall? Empty view. Maybe wall is just behind? Or far away.
East wall at x=4 (green door).
West wall at x=-3 (yellow door).

Objects:
- Vase: (-2, 2).
- Teddybear: (2, 2).
- Bike: (3, 5).
- Television: (3, 0).
- Green door: (4, 2).
- Yellow door: (-3, 0).

Room 2 (West of Room 1):
Entrance at (-3, 0).
Chair at (-5, 0). Facing Left (relative to West view? "facing left" in description "chair: front, near, facing left". If I look West, left is South. So Chair faces South. Wait, "facing left" is an object property usually relative to the observer or global? "Orientation: ... When agent faces north: forward = north...". The description says "chair... facing left". If it's ego-centric to the observation: I looked West. Left is South. So Chair faces South. If it's allo-centric reported, usually the text says "facing south". The prompt says "facing left" in the observation string. Standard interpretation is object's front is to the agent's left. Agent faces West. Left is South. So Chair faces South.
Desklamp: from door (West view) -> front-right (NW). from chair (West view) -> front-right (NW). So Desklamp is at x < -5, y > 0. Let's guess (-7, 2).
Plant: near Desklamp.

Current state:
Agent at Chair (-5, 0).
Facing West.

Map Construction:
- Agent: [-5, 0], facing West.
- Teddybear: [2, 2], facing East (original: facing right when looking N. Agent N -> Right is E).
- Bike: [3, 5], facing East.
- Vase: [-2, 2].
- Television: [3, 0], facing South (original: facing right when looking E. Agent E -> Right is S).
- Green door: [4, 2].
- Yellow door: [-3, 0].
- Chair: [-5, 0], facing South.
- Desklamp: [-7, 2], facing West (original: facing forward when looking W from door? "facing forward" in prompt. Agent W -> Forward is W).
- Plant: [-8, 3]? Just put it near desklamp.

Wait, the prompt asks for "Coordinate integers". I need to be consistent.
Initial pose (0,0).
Vase (-2, 2).
Teddybear (2, 2).
Bike (3, 4).
Television (3, 0).
Green door (4, 1). (Was front-left from East view (0,0)->(3,0) would be front. (4,1) is front-left? Angle to (4,1) is atan(1/4)=14 deg. front-left is 0 to 45 or -45 to 0? "[-45°,-22.5°)→front-left". So angle must be positive counter-clockwise? No, "0° is front. +: clockwise, -: counterclockwise". Front-left is negative. So (4, 1) is -14 deg? No, y is left of x-axis. Standard math: x axis is 0. y axis is 90. Clockwise: East is 0 (relative). Left is North (+). So angle is negative?
Let's stick to the bins.
Look East (0 deg). Front is East. Front-Left is North-East sector (negative angle in ego frame? Left is usually CCW).
If I face East, North is to my Left.
Green door is "front-left". So it has a North component relative to me. (x>0, y>0).
Television is "front". (x>0, y~0).
So Green Door at (4, 2) and TV at (3, 0) works.

Yellow door at (-3, 0).
Chair at (-5, 0).
Desklamp: From Chair (-5,0) looking West: "front-right". Front is West (-x). Right is North (+y). So (-x, +y). Relative to (-5,0), maybe (-7, 2).
Plant: "front-right". Near desklamp.

Recap:
Agent at Chair (-5, 0) facing West.

FINAL ANSWER:
```json
{
"agent": {"position": [-5, 0], "facing": "west"},
"teddybear": {"position": [2, 2], "facing": "east"},
"bike": {"position": [3, 4], "facing": "east"},
"vase": {"position": [-2, 2]},
"television": {"position": [3, 0], "facing": "south"},
"green door": {"position": [4, 2]},
"yellow door": {"position": [-3, 0]},
"chair": {"position": [-5, 0], "facing": "south"},
"desklamp": {"position": [-7, 2], "facing": "west"},
"plant": {"position": [-7, 3]}
}
```

THINK:
The agent started at (0,0) facing North.
Initial observation (North): teddybear (front-right, mid), bike (front-slight-right, slightly far), vase (front-left, mid).
Rotated 90 deg (East): television (front, mid), green door (front-left, slightly far, on front wall).
Rotated 90 deg (South): Em...

{
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "west"
  },
  "teddybear": {
    "position": [
      2,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      3,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ]
  },
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "green door": {
    "position": [
      4,
      2
    ]
  },
  "yellow door": {
    "position": [
      -3,
      0
    ]
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "plant": {
    "position": [
      -7,
      3
    ]
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "west"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "west"
  }
}

THINK:
The agent is at the chair in Room 2. The previous action was JumpTo(chair) while facing West. So the agent is facing West (global).
In the Local Cognitive Map, the agent is the origin (0,0) and facing +y.
So +y corresponds to Global West.
+x corresponds to Global North.
-x corresponds to Global South.
-y corresponds to Global East.

The observation from the chair is:
- desklamp: front-right, mid distance, facing forward.
- plant: front-right, slightly far.
No facing direction provided for the plant.

Relative coordinates calculation:
- "front-right" usually implies an angle around 45 degrees.
- "mid distance" corresponds to (2, 4]. Let's pick 3 or 4.
- "slightly far" corresponds to (4, 8]. Let's pick 5 or 6.

Object: desklamp
Relation: front-right (45 deg relative to agent).
Distance: mid (e.g., 3 units).
Position: roughly x=+2, y=+2 (since front is +y and right is +x).
Facing: "facing forward" (relative to agent). Agent faces +y. So desklamp faces +y.

Object: plant
Relation: front-right.
Distance: slightly far (e.g., 5 units).
Position: roughly x=+3, y=+3.
Note: "desklamp is south, near to plant" (from previous observation text provided in the prompt, wait, that was from the Door observation).
Current observation says: "desklamp: front-right... plant: front-right...".
Wait, the prompt includes a snippet: "Assume your current facing direction is called 'north': desklamp is south, near to plant."
This snippet "Assume your current facing direction is called 'north'..." is part of the proximity report provided by the system *within the observation*.
It means relative to the agent's current facing (+y in local frame), the desklamp is "south" (i.e., -y direction relative to the plant? No, usually "A is south of B" means A.y < B.y).
If the desklamp is south of the plant, and both are front-right of the agent, then the plant is "more north" (larger y in local frame) than the desklamp. This matches the distance info: desklamp is mid distance, plant is slightly far.
So, Plant is at (3, 3), Desklamp is at (2, 2).
The prompt says "desklamp is south, near to plant".
In the local frame where agent faces "north" (+y):
Plant is at (x_p, y_p).
Desklamp is at (x_d, y_d).
If desklamp is South of plant, y_d < y_p.
If they are "near", distance is small.
Coordinates:
Desklamp: (2, 2)
Plant: (3, 3) (or 2, 4?)
Let's stick to rough integers.
Desklamp facing: "facing forward" -> +y.

JSON Construction:
Origin: "agent".
Objects:
"desklamp": position [2, 2], facing "+y".
"plant": position [3, 3] (no facing info given in this specific observation).

Wait, I need to check the exact "front-right" mapping.
Bins: (22.5, 45] is front-right.
So x and y should be positive. x ≈ y.
Mid distance (2, 4]. Sqrt(2^2 + 2^2) = 2.82 (valid).
Slightly far (4, 8]. Sqrt(3^2 + 3^2) = 4.24 (valid). Sqrt(4^2 + 4^2) = 5.6.
Let's use [2, 2] and [3, 4] or [4, 4].
Given "desklamp is south... of plant", plant has higher y.
So [2, 2] and [2, 4] or [3, 5].
Let's just use representative values.

FINAL ANSWER:
{
"origin": "agent",
"objects": {
"desklamp": {"position": [2, 2], "facing": "+y"},
"plant": {"position": [3, 4]}
}
}

THINK:
The agent is at the chair in Room 2. The previous action was JumpTo(chair) while facing West. So the agent is facing West (global).
In the Local Cognitive Map, the agent is the origin (0,0) and facing +y.
So +y corresponds to Global West.
+x corresponds to Global North.
-x corresponds to Glob...

{
  "origin": "agent",
  "objects": {
    "desklamp": {
      "position": [
        2,
        2
      ],
      "facing": "+y"
    },
    "plant": {
      "position": [
        3,
        4
      ]
    }
  }
}

{
  "desklamp": {
    "position": [
      2,
      2
    ],
    "facing": "west"
  },
  "plant": {
    "position": [
      2,
      4
    ],
    "facing": "east"
  }
}

{
  "origin": "agent",
  "objects": {
    "desklamp": {
      "position": [
        2,
        2
      ],
      "facing": "+y"
    },
    "plant": {
      "position": [
        3,
        4
      ]
    }
  }
}

THINK:
The agent started in Room 1 (right side of the map). The map shows the agent ('*') in the left room (Room 2), having passed through a door ('+') on the east wall of this room (connecting to the middle room).
Wait, the symbolic map shows three rooms. Let's trace the path.
Initial start: Room 1 (0,0). The map has coordinates (0,0) at bottom-left. The initial text said "Imagine 3 rooms... initial position is in room 1".
Let's look at the map provided.
The map shows three vertical sections separated by walls.
The agent is marked '*' in the left-most room.
The agent jumped from Room 1 (where it started) to the "yellow door" (West).
Wait, if I started in Room 1 and jumped West to a door, and I am now in a room to the West, then Room 1 must be the *middle* room or the *right* room?
Let's re-read the setup. "Room 1, room 2, room 3. Initial position in room 1... face north. ... (0,0) is origin."
I observed a yellow door to the West and a green door to the East in Room 1.
So Room 1 is the CENTRAL room.
West of Room 1 is the yellow door leading to Room 2 (Left room).
East of Room 1 is the green door leading to Room 3 (Right room).
I jumped to the yellow door (West) and then to the chair (West).
So I am now in Room 2 (the left room).
The map shows the agent '*' in the left room.
The door '+' to the right of the agent connects the left room (Room 2) to the middle room (Room 1).
The candidates A, B, C, D, E, F are in the left room (Room 2).
The question asks to select points located in "unexplored/unobserved regions".

What has the agent observed in Room 2?
The agent stood at the yellow door (facing West) and saw:
- chair (near, front/West)
- desklamp (front-right/NW)
- plant (front-slight-right/W-NW)
Then the agent jumped to the chair (facing West) and observed:
- desklamp (front-right/NW)
- plant (front-right/NW)

The agent has been looking generally West and North-West inside Room 2.
The agent is currently at the chair.
Facing West.
FOV is 90 degrees (Front-Left to Front-Right, i.e., SW to NW).
So from the chair, the agent sees West.
From the door, the agent saw West.
The area "behind" the agent (East, towards the door) and "South" in Room 2 has likely not been fully observed from inside the room, although the view from the door covered a cone facing West.
Let's look at the specific points on the map.
The map shows the left room boundaries.
The agent '*' is at the chair.
Candidates:
A: Top wall, middle-left.
B: Top-left corner area.
C: Left wall, middle.
D: Bottom-left area (South of agent).
E: Near the door (East of agent).
F: Top wall, middle-right.

From the door (on the right wall of this room), facing West:
The agent saw the chair (where * is).
The agent saw desklamp and plant to the front-right (NW).
A and F are generally North. B is NW. C is West. D is SW. E is East.
The view from the door (facing West) covered the cone towards West. It likely saw C (West wall) and parts of B and D depending on the spread.
However, objects were reported: Chair, Desklamp, Plant.
Desklamp and Plant were "front-right" (NW).
The area "South" (D) was not mentioned in observations (no objects reported there, or empty). But "unexplored" implies not seen.
From the door facing West, the agent sees -45 to +45 degrees relative to West (SW to NW).
So D (SW) might be in FOV. B (NW) might be in FOV.
From the chair (facing West), the agent sees -45 to +45 relative to West (SW to NW).
This view definitely covers C.
It covers the SW corner (D) and NW corner (B) if they are within distance and angle.
However, the agent has NOT looked North, South, or East from inside the room yet, except for the cone.
Specifically, E is "behind" the agent (East) relative to the current West facing. The agent was at the door previously, so it physically occupied the space near E, but when at the door, it faced West. It did not look *at* E (the space just inside the door) from a different angle, but it stood there. Does standing there count as exploring? Usually yes, but strictly speaking, "unobserved" means not covered by an Observe action's FOV.
When at the door facing West, the FOV starts from the door and extends West. E is likely in the "near" field or just in front.
However, points like A and F are North/North-East of the agent.
The agent faced West. The right edge of the FOV is NW.
Point F is to the North-East of the chair? No, F is North.
Let's look at coordinates.
Agent is at roughly (some x, some y).
A, B, F are at higher Y (North).
D is at lower Y (South).
C is at lower X (West).
E is at higher X (East).

History of Views in Room 2:
1. From Door (facing West): Saw West cone. Saw Chair, Desklamp (NW), Plant (WNW).
- Covered: West, NW, SW sectors from the door.
- Likely observed C (West wall), B (NW corner), D (SW corner).
2. From Chair (facing West): Saw West cone. Saw Desklamp, Plant.
- Covered: West, NW, SW from the chair.

What is NOT observed?
- The area strictly North (if outside the NW cone).
- The area strictly South (if outside the SW cone).
- The area East (behind the agent).
Point E is East of the chair. The agent walked past it but has not looked *at* it from the chair. But the agent stood at the door (E's vicinity). Is it "unexplored"?
Points A, F: North. From the chair facing West, North is "Right". The FOV is Front-Right (NW) to Front-Left (SW). North (90 deg right) is outside FOV.
So regions directly North (A, F) and South (D - wait, D is SW?) are candidates.
Let's check D. D is South-West of the chair. The agent faces West. Front-Left is South-West. So D is likely observed.
Let's check A, B. B is NW. Front-Right is NW. Likely observed.
A is North. F is North-East relative to chair?
Let's look at the map grid visually.
Room 2 is roughly 6-7 units wide and 8 units high.
Door is at roughly (row 3 from bottom, right wall).
Agent * (Chair) is at (row 3, col 4?).
Map:
Rows 0-8.
Agent row is 3 (from bottom `...D..#...`). No, D is below agent.
Agent line: `#....*.+......#` -> `*` is at `....` (index 5?). Door `+` is at index 7.
So Agent is West of Door. Facing West.
D is row below.
E is row above? No, E is `.....E#`. Row 5.
Wait, let's align rows.
Top: `#.BA.F.` (Row 8?)
`#C.....#` (Row 7)
`#.....E#` (Row 6)
`#......#` (Row 5)
`#...D..#` (Row 4)
`#....*.+` (Row 3) -> Agent and Door.
So Agent is at Row 3.
D is at Row 4? No, visual check:
Line with D: `#...D..#`.
Line with *: `#....*.+`.
Usually text maps are printed top-down.
Line 1: `#.BA.F.` (Top)
...
Line 5: `#...D..#`
Line 6: `#....*.+`
If printed top-down, D is "above" * in the text, which corresponds to North if North is Up?
Text says "**North is Up.**".
Usually text files print line 0 at the top.
So the "Top" line visually is the highest Y.
Line 1: `#.BA.F.` is North.
Line containing `*` is South of that.
Let's assume standard matrix printing: Row 0 is top. But text says "North is Up".
Usually in these tasks, the printed map:
Up direction on screen = North.
So `#.BA.F.` is the North wall.
`#....*.+` is further South.
So A, B, F are North of the agent.
C is West (Left).
E is North-East? No, E is in the row above `*` but to the right?
Line with E: `#.....E#`.
Line with *: `#....*.+`.
E is vertically above the space between * and +. So E is North-East of *.
D is in the row `...D..`. Row above *?
Let's trace lines carefully.
Line 1 (Top): #.BA.F.#######
Line 2: #C.....#......
Line 3: #.....E#......
Line 4: #......#......
Line 5: #...D..#......
Line 6: #....*.+......
Line 7: ########......
Line 8: ##############

If Line 1 is North (Max Y):
Agent (*) is at Line 6.
Door (+) is at Line 6, East of *.
D is at Line 5. (North of *)
E is at Line 3. (North of *)
C is at Line 2. (North-West of *)
A, B, F are at Line 1. (North of *)

Wait, if North is Up, and the lines go 1 to 8, then Line 1 is the most North.
Agent is at Line 6 facing West.
FOV (90 deg): West +/- 45 deg. i.e., NW to SW.
The agent sees "Front" (West).
Objects to the North (relative to agent) are on the "Right".
If facing West, "Right" is North.
"Front-Right" is North-West.
Agent sees NW.
Objects at Line 1 (A, B, F) are North.
B is North-West. Likely in FOV.
A is North. Might be in FOV if far enough West? Or blocked? Or outside 45 deg?
F is North-East relative to *. (East of B/A).
E is North-East relative to *.
D is North-West? D is at Line 5, column roughly aligned with *.
Let's check columns.
`#....*.+`
Col 0: #
Col 1-4: ....
Col 5: *
Col 6: .
Col 7: +
Agent is at x=5 (relative).
D is in `#...D..#`.
`#` is col 0. `...` is 1-3. `D` is col 4.
So D is at x=4, y=Line 5. Agent at x=5, y=Line 6.
(Assuming Y increases going Up).
Agent y=6. D y=7? No, if Line 1 is Top (Max Y), then Line 5 is "higher" (North) than Line 6.
So D is North-West of *.
E is at Line 3. `.....E#`. `E` is col 6?
`#` col 0. `.....` col 1-5. `E` col 6.
So E is at x=6, y=Line 3.
Agent x=5, y=Line 6.
E is North-East (North and East).
C is at Line 2. `C` is col 1.
C is North-West (Far).
A, B, F at Line 1.
B col 2. (North-West)
A col 3. (North-West)
F col 5. (North).

Agent faces West.
FOV: SW (225) to NW (315). (Using North=0, West=270. 270+/-45 = 225 to 315).
North is 0 (or 360).
North-West is 315.
So the agent sees exactly up to North-West.
Any point strictly North of the diagonal (Angle > 315 or < 225) is NOT seen.
Or roughly.
Points B, C, D, A?
C (x=1, y=Line 2): Agent (5,6). dx = -4, dy = +4. Angle = 135 deg (NW). Exactly on the edge?
B (x=2, y=Line 1): dx = -3, dy = +5. More North than West. Angle < 315?
West is 270. NW is 315.
Vector (-3, 5). Atan2(5, -3) = 120 deg (from East). From North (0), it's -60 or 300?
Let's use standard math. East=0. North=90. West=180.
Agent faces West (180). FOV [135, 225].
Vector to C (-4, 4): Angle 135. Edge of FOV. Maybe seen.
Vector to B (-3, 5): Angle ~121. Outside FOV (135-225). B is "too North".
Vector to A (-2, 5): Angle ~111. Outside.
Vector to F (0, 5): Angle 90 (North). Outside.
Vector to E (1, 3): Angle ~71. Outside (North-East).
Vector to D (-1, 1): Angle 135. Edge.

Wait, my coordinate system needs to be consistent.
Standard grid:
(0,0) bottom-left.
Agent at (x,y).
North is +y. West is -x.
Agent faces West.
FOV is cone centered on -x axis.
Slopes y/x between -1 and 1? No.
West is (-1, 0).
FOV limits: (-1, 1) [NW] and (-1, -1) [SW].
Condition for visibility (d_x < 0): |d_y| <= |d_x|? No, that's 45 degrees.
Yes, tan(45) = 1.
So if |dy| <= |dx| (and dx < 0), point is in FOV.
Let's re-evaluate points based on |dy| <= |dx|.

Agent at (5, 6) [counting from top, let's invert to bottom].
Let's just use relative steps.
Agent is at Col 5.
Points:
D: Col 4. 1 row North. dx=-1, dy=+1. |1| <= |-1|? 1=1. Edge. (NW diagonal).
E: Col 6. 3 rows North. dx=+1, dy=+3. dx > 0 (East). Not in West FOV.
F: Col 5. 5 rows North. dx=0, dy=+5. Not West.
A: Col 3. 5 rows North. dx=-2, dy=+5. |5| <= |-2|? 5 <= 2? False. Too North.
B: Col 2. 5 rows North. dx=-3, dy=+5. |5| <= |-3|? 5 <= 3? False. Too North.
C: Col 1. 4 rows North. dx=-4, dy=+4. |4| <= |-4|? 4 <= 4. Edge.

So, points strictly inside the West FOV (dx < 0 and |dy| < |dx|) are "West-ish".
Points on the diagonal (|dy| = |dx|) are "North-West" or "South-West". Usually "Front-Right" / "Front-Left".
In the observation text, the agent saw "desklamp" at "front-right". This confirms the agent can see the diagonal.
However, points *beyond* the diagonal (more North than West) are "Beyond FOV".
A, B, F, E are definitely More North than West (or East).
C is on the diagonal.
D is on the diagonal.
The question asks for "unexplored/unobserved".
Given the agent just looked West, and A, B, F, E are "too North" or "East", they are unobserved.
C and D are on the diagonal. D (1 step away) was likely seen (Desklamp is front-right).
C is far (4 steps).
But wait, previously at the door (x=7, y=6), facing West.
View from door:
A (dx=-4, dy=+5) -> |5| <= |-4|? No.
B (dx=-5, dy=+5) -> |5| <= |-5|? Yes. B is on diagonal from door.
C (dx=-6, dy=+4) -> |4| <= |-6|? Yes. C is inside FOV from door.
D (dx=-3, dy=+1) -> |1| <= |-3|? Yes. D is inside FOV from door.
E (dx=-1, dy=+3) -> |3| <= |-1|? No. Too North.
F (dx=-2, dy=+5) -> |5| <= |-2|? No. Too North.

So from the door (facing West):
C and D were in the West cone.
B was on the edge.
A, E, F were outside (too North).
From the chair (facing West):
C and D are on the edge.
A, B, E, F are outside.

Unobserved regions:
A, E, F seem consistently unobserved (too North).
B was on the edge from the door, but outside from the chair.
C was inside from the door.
D was inside from the door.

So candidates for Unexplored: A, B, E, F.
Wait, let's look at the labels on the map again.
`#.BA.F.`
Are these in a room? Yes.
Is "unobserved" strict? Yes.
From the door, the agent saw West.
C is West of the door. D is West-South-West of the door.
So C and D are likely Observed.
B is North-West of the door. (dx=-5, dy=5). Diagonal.
A is North-West of the door. (dx=-4, dy=5). More North. Unobserved.
F is North-North-West. Unobserved.
E is North-West-North. Unobserved.

So A, E, F are definitely unobserved.
What about B? It was on the diagonal from the door. "Front-Right".
Did the agent report an object at B? No objects reported except chair, desklamp, plant.
If B is empty floor, and it was in FOV, is it "unexplored"? The region was observed.
But B is in the corner.
However, A and F are definitely in the "North" blind spot of the West-facing agent.
E is in the "North-East" blind spot.
So A, F, E are good candidates.
What about C? It was in the central West view from the door. Likely observed.
What about D? It was in the central West view from the door. Likely observed.

Let's refine B.
From Door (x=7, y=6) to B (x=2, y=1).
dx = -5. dy = 5. (Assuming y=1 is top).
Angle is exactly 45 degrees (NW).
This falls into "Front-Right" bin.
Was it seen? The FOV is 90 degrees.
Usually, diagonal is the limit.
Is it included? "[-45, 45]" usually means inclusive.
So B was likely visible from the door.
From Chair (x=5, y=6) to B (x=2, y=1).
dx = -3. dy = 5.
Angle is steeper than 45. (More North).
Outside FOV.
But since it was visible from the door, is it "unexplored"?
The map asks for points in "unexplored/unobserved regions".
If it was observed from the door, it's not unobserved.
So B is likely observed.

So A, E, F.
Let's check A again.
From Door (x=7) to A (x=3). dx = -4. dy = 5.
|5| > |-4|. Outside West FOV.
So A is Unobserved.
From Door to F (x=5). dx = -2. dy = 5.
|5| > |-2|. Outside.
So F is Unobserved.
From Door to E (x=6). dx = -1. dy = 3.
|3| > |-1|. Outside.
So E is Unobserved.

Result: A, E, F.
Wait, look at C again.
From Door to C (x=1). dx = -6. dy = 4.
|4| < |-6|. Inside. Observed.
Look at D.
From Door to D (x=4). dx = -3. dy = 1.
|1| < |-3|. Inside. Observed.

Wait, check the "South" area.
The map shows empty space below `*`.
Candidates: D is in the row above `*`.
Are there candidates below `*`?
`#...D..#`
`#....*.+`
`########`
No candidates labeled below `*`.
So we are good.

Final check on A, B, E, F.
B is (2, 1) from (7, 6). dx=-5, dy=5. Edge.
A is (3, 1) from (7, 6). dx=-4, dy=5. Outside.
So A is definitely unobserved.
B is borderline. But if A is unobserved, the region "North" is unobserved. B is in that region.
However, B is in the corner.
If B was "Front-Right" from the door, it was observed.
Let's stick to the definitely unobserved ones: A (North), F (North), E (North-East).
Is B unobserved? If the diagonal is the cut-off, B is seen.
Let's assume standard FOV where diagonal is included.
So B is observed.
A, E, F are not.

Wait, look at E.
E is `.....E#`.
From Chair (*): E is North-East.
From Door (+): E is North-North-West?
Door is at (7, 6). E is at (6, 3).
dx = -1. dy = 3.
|3| > |-1|. Outside.
So E is unobserved.

Are there any other walls blocking?
No internal walls shown in Room 2.

Conclusion: A, E, F are unobserved.
C, D are observed.
B is likely observed (edge).

Wait, I should check if the agent *rotated*?
Sequence:
1. JumpTo(yellow door). Observed (West).
2. JumpTo(chair). Observed (West).
No rotations in Room 2.
So the agent has only looked West.
The "North" part of Room 2 (A, B, F, E) and "South" part (if any) are the main blind spots.
However, D is in the "West" cone from the door.
Wait, let's re-verify D's position.
Line 5: `#...D..#`.
Line 6: `#....*.+`.
D is North of *. (If Line 1 is Top).
So D is North-West from door?
Door (7,6) -> D (4,5).
dx = -3. dy = 1.
|1| <= |-3|. Yes. Inside West cone.
So D is observed.

What if "North is Up" means Line 8 is Top?
Then Line 1 is Bottom.
`#.BA.F.` would be South.
`#....*.+` would be North.
The text says "**North is Up**". In maps, Up is usually the top of the text block.
So Line 1 is North.
My analysis holds.

What about B?
From door (7,6) to B(2,1).
dx=-5, dy=5.
If FOV is strictly < 45 degrees, B is out.
If FOV is <= 45, B is in.
"FOV is 90 degrees". Usually [-45, 45].
And "front-right" bin is (22.5, 45].
So 45 is included.
B is observed.

So Unexplored: A, E, F.

Wait, check coordinates of E again.
`#.....E#` (Line 3).
Door `+` (Line 6).
dy = 3. dx = -1.
Angle arctan(3/1) ~ 71 deg.
Clearly outside 45 deg cone.
So E is unobserved.

Check A.
A (Line 1, Col 3). Door (Line 6, Col 7).
dy = 5. dx = -4.
Angle arctan(5/4) ~ 51 deg.
Outside 45 deg cone.
So A is unobserved.

Check F.
F (Line 1, Col 5). Door (Line 6, Col 7).
dy = 5. dx = -2.
Angle arctan(5/2) ~ 68 deg.
Outside.
So F is unobserved.

Check C.
C (Line 2, Col 1). Door (Line 6, Col 7).
dy = 4. dx = -6.
Angle arctan(4/6) ~ 33 deg.
Inside 45 deg cone.
Observed.

Check D.
D (Line 5, Col 4). Door (Line 6, Col 7).
dy = 1. dx = -3.
Angle arctan(1/3) ~ 18 deg.
Inside.
Observed.

Check B.
B (Line 1, Col 2). Door (Line 6, Col 7).
dy = 5. dx = -5.
Angle 45 deg.
Inside (Edge).

So Unexplored = A, E, F.
Wait, is there any occlusion?
"chair" is at (5,6).
From Door (7,6), Chair is at (5,6).
Objects are points. Do they block vision?
"Doors block vision between rooms". Objects usually don't block vision unless specified "large".
We assume points don't block points.

So A, E, F.

What about the wall between Room 1 and Room 2?
The map shows walls `#`.
The agent is in Room 2.
The unexplored points are in Room 2.
So no wall blocking.

Double check A.
A is at top wall.
Is it possible A was seen from Room 1?
No, walls block vision.
So A must be seen from Room 2.
It hasn't been.

Final list: A, E, F.
Wait, is E "behind" the door frame?
From door, E is at angle 71 deg (North-Westish? No, North-North-West).
The agent faces West.
Right side of FOV is NW (45 deg).
71 deg is to the Right of NW. i.e., North.
So it is not seen.

One more check on the map.
Is it possible the map coordinates are (0,0) at top-left?
"Coordinates: (0, 0) is at the bottom-left".
"X points Right (East), Y points Up (North)".
So Y=0 is bottom line (Line 8).
Y increases upwards.
So Line 1 is Y=7.
My relative analysis (dy) holds.

Final set: A, E, F.

Wait, I missed 'B' analysis from the chair perspective?
From chair, B is definitely out.
But B was seen from the door.
Does "unexplored" mean "never seen" or "not currently seen"?
"Select the points that are located in unexplored/unobserved regions."
Usually means "regions that have not been observed yet".
So if B was seen from the door, it is not unexplored.

Therefore, A, E, F.

FINAL ANSWER:
{
"unexplored": ["A", "E", "F"]
}

THINK:
The agent started in Room 1 (right side of the map). The map shows the agent ('*') in the left room (Room 2), having passed through a door ('+') on the east wall of this room (connecting to the middle room).
Wait, the symbolic map shows three rooms. Let's trace the path.
Initial start: Room 1...

######################
#.BA.F.###############
#C.....#......#......#
#.....E#......+......#
#......#......#......#
#...D..#......#......#
#....*.+......#......#
########......#......#
######################

You jumped to chair. You observe:
• desklamp: front-right, mid distance, facing forward
• plant: front-right, slightly far
Assume your current facing direction is called "north":
• desklamp is south, near to plant.
You have a maximum of 14 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You jumped to chair. You observe:
• desklamp: front-right, mid distance, facing forward
• plant: front-right, slightly far
Assume your current facing direction is called "north":
• desklamp is south, near to plant.
You have a maximum of 14 exploration steps left.
Strictly follow this format:
THINK:...

The agent is at the chair in Room 2, facing West.
Observations:
- desklamp: front-right (NW relative to West? No, wait. Facing West. Front-Right is North-West).
- plant: front-right (North-West).
The agent has not seen the South or Left side of Room 2 from this position.
The agent entered from the East (yellow door).
To see the rest of Room 2, the agent should rotate.
Rotating 90 degrees clockwise (to North) or counter-clockwise (to South).
Let's rotate 90 degrees Counter-Clockwise (to face South) to check that side of the room.
Or rotate 180 to see back at the door? The agent knows the door is there.
Let's rotate 90 degrees (Clockwise) to face North. The desklamp and plant were front-right (North-West). Facing North should put them in front or front-left.
Wait, if I am facing West:
Front = West.
Right = North.
Front-Right = North-West.
So desklamp and plant are roughly North-West of the chair.
If I rotate 90 degrees clockwise, I face North. They should be in "front-left".
This rotation will allow me to see the "North" side of Room 2 clearly.
Let's try rotating 90 degrees clockwise (to North).

The agent is at the chair in Room 2, facing West.
Observations:
- desklamp: front-right (NW relative to West? No, wait. Facing West. Front-Right is North-West).
- plant: front-right (North-West).
The agent has not seen the South or Left side of Room 2 from this position.
The agent entered from the E...

THINK:
The agent has explored Room 1 and part of Room 2.
Initial position in Room 1 is (0,0), facing North.

Objects in Room 1:
- Agent starts at (0,0).
- Facing North (Step 1):
- Teddybear: front-right (NE), mid distance (~2-4m). Let's estimate (1, 2) or (2, 2).
- Bike: front-slight-right (NNE), slightly far (~4-8m). Let's estimate (1, 5).
- Vase: front-left (NW), mid distance. Let's estimate (-2, 2).
- "teddybear is south, near to bike" -> consistent.
- Facing East (Step 2):
- Television: front (East), mid distance (~3m). Estimate (3, 0).
- Green door: front-left (NE), slightly far, on front wall (East wall). Estimate (4, 2) or similar. Or if it's "front wall" relative to East facing, it's a vertical wall at x=something. If I am at (0,0) facing East, "front" is East. Front wall is at x=d. Green door is front-left (NE). Let's place it at roughly (4, 1) or (4, 2).
- Facing South (Step 3): Empty.
- Facing West (Step 4):
- Vase: front-right (NW), mid distance. Consistent.
- Yellow door: front (West), mid distance, on front wall. Estimate (-3, 0).

Agent moved to Yellow door (Step 5):
- JumpTo(yellow door). Position approx (-3, 0). Facing West.
- Observations: Chair (front/West, near), Desklamp (front-right/NW, slightly far), Plant (front-slight-right/WNW, slightly far).

Agent moved to Chair (Step 6):
- JumpTo(chair). Position approx (-3 - 2, 0) = (-5, 0). Facing West.
- Observations: Desklamp (front-right/NW, mid), Plant (front-right/NW, slight far).

Agent Rotated 90 deg clockwise (Step 7):
- Facing North at Chair (-5, 0).
- Observations:
- Desklamp: front-left (NW), mid distance.
- Basket: front (North), mid distance.

Coordinates Estimation:
Origin (0,0).
Room 1 is roughly centered or extends from (0,0).
Yellow door at West: (-3, 0).
Green door at East: (4, 0) or (3,0)? Let's assume symmetric or based on distance bins. Mid distance is 2-4. Let's use 3.
Yellow door: (-3, 0).
Green door: (3, 0). (Saw television mid distance East, saw Green door slightly far front-left). If TV is (3,0), door might be (3, 2). Or TV is (2,0) and door is (3,1). Let's stick to approximate integers.
Let's define Room 1 bounds: x=[-3, 3], y=[-2, 4]?
Objects Room 1:
- Teddybear: (2, 2)? Facing right (East).
- Bike: (2, 4)? Facing right (East).
- Vase: (-2, 2).
- TV: (3, 0)? Facing right (South? No, facing right relative to agent? Or absolute? Usually "facing X" in observation means the object's front faces X. If relative, needs conversion. The instruction says "Orientation: -forward/backward/right/left (ego) or north/east/south/west (allo). ... When agent faces north: forward = north, right = east...". The observation says "facing right". If this is allocentric based on the agent's current frame (North), then "facing right" means facing East.
- Green door: (3, 2)?
- Yellow door: (-3, 0).

Room 2 (West of Room 1):
Connects via Yellow door (-3, 0).
Chair: "front, near" from door. Door at (-3,0) facing West. "Near" is (0,2]. Let's say (-5, 0). Chair facing left (South? If "left" is relative to agent facing West, left is South).
Agent is at Chair (-5, 0).
Desklamp: from chair facing North, it is "front-left" (NW). Mid distance (2-4). Say (-7, 3).
Basket: from chair facing North, it is "front" (North). Mid distance. Say (-5, 3).
Plant: from chair (West facing), front-right (NW). From chair (North facing), not seen? Wait, previous observation said "desklamp front-right, plant front-right" (West facing). Current "desklamp front-left" (North facing). Plant not mentioned in current view?
Ah, "front-left" for Desklamp means it's to the West of the North vector. (-7, 3) fits.
Basket is North of Chair (-5, 0) -> (-5, 3).
Plant: likely near Desklamp. "desklamp is south, near to plant" (from Query in step 5? No, from "Assume your current facing..."). Wait, the text says: "Assume your current facing direction is called 'north': desklamp is south, near to plant." This implies Plant is North of Desklamp. If Desklamp is at (-7, 3), Plant is at (-7, 5).

Let's refine coordinates:
Agent current: (-5, 0). Facing: North.
Objects:
- Chair: (-5, 0). Facing South (based on "facing left" when agent faced West).
- Desklamp: (-7, 3). Facing left (West? If agent faces North, left is West).
- Basket: (-5, 3).
- Plant: (-7, 5).
- Yellow door: (-3, 0).
- Vase: (-2, 2).
- Teddybear: (2, 2). Facing East.
- Bike: (2, 4). Facing East.
- TV: (3, 0). Facing South? (Agent faced East, TV "facing right". Right of East is South).
- Green door: (3, 2).

Wait, the prompt asks for a "Cognitive Map (JSON)".
I need to produce a JSON with positions and facings.
I should assume integer coordinates.

Recalculating positions:
Room 1 (Origin 0,0):
- Agent start (0,0).
- Vase: NW. dist mid (say 2.8). (-2, 2).
- Teddybear: NE. dist mid. (2, 2). Facing East.
- Bike: NNE. dist slight far (say 5). (2, 5) or (1, 5). "teddybear is south, near to bike". If Bear is (2,2), Bike should be North of it. (2, 4). Facing East.
- TV: East. dist mid. (3, 0). Facing South.
- Green door: NE (from origin facing East, it was "front-left"). From (0,0), NE is (x,y). East wall is x=3? (3, 2).
- Yellow door: West. dist mid. (-3, 0).

Room 2 (West of Yellow door):
- Door at (-3, 0).
- Chair: West of door, near (dist 2). (-5, 0). Facing South.
- Basket: North of Chair, mid (dist 3). (-5, 3).
- Desklamp: NW of Chair (-5, 0). "front-left" when facing North. (-7, 3). Facing West.
- Plant: Near Desklamp. Relation: "desklamp is south, near to plant". Plant is North of Desklamp. (-7, 5).

Agent currently at Chair (-5, 0) facing North.

JSON Content:
agent: [-5, 0], facing: "north"
teddybear: [2, 2], facing: "east"
bike: [2, 4], facing: "east"
vase: [-2, 2]
television: [3, 0], facing: "south"
green door: [3, 2]
yellow door: [-3, 0]
chair: [-5, 0], facing: "south"
desklamp: [-7, 3], facing: "west"
basket: [-5, 3]
plant: [-7, 5]

Note: "shoes", "scooter", "shelf" etc. are in the list of objects in the prompt but not yet seen. Only include observed objects.
Check "green door" position. From (0,0) facing East, "front-left" is North-East. If wall is at x=3, y>0. (3, 2) makes sense.
Check "yellow door" position. From (0,0) facing West, "front" is West. (-3, 0).
Check "desklamp facing": Observed from Chair (facing North) as "facing left". Left of North is West.

Final JSON construction.

FINAL ANSWER:
```json
{
"agent": {"position": [-5, 0], "facing": "north"},
"teddybear": {"position": [2, 2], "facing": "east"},
"bike": {"position": [2, 4], "facing": "east"},
"vase": {"position": [-2, 2]},
"television": {"position": [3, 0], "facing": "south"},
"green door": {"position": [3, 2]},
"yellow door": {"position": [-3, 0]},
"chair": {"position": [-5, 0], "facing": "south"},
"desklamp": {"position": [-7, 3], "facing": "west"},
"basket": {"position": [-5, 3]},
"plant": {"position": [-7, 5]}
}
```

THINK:
The agent has explored Room 1 and part of Room 2.
Initial position in Room 1 is (0,0), facing North.

Objects in Room 1:
- Agent starts at (0,0).
- Facing North (Step 1):
- Teddybear: front-right (NE), mid distance (~2-4m). Let's estimate (1, 2) or (2, 2).
- Bike: front-slight-right (NNE)...

{
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "north"
  },
  "teddybear": {
    "position": [
      2,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      2,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ]
  },
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "green door": {
    "position": [
      3,
      2
    ]
  },
  "yellow door": {
    "position": [
      -3,
      0
    ]
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "desklamp": {
    "position": [
      -7,
      3
    ],
    "facing": "west"
  },
  "basket": {
    "position": [
      -5,
      3
    ]
  },
  "plant": {
    "position": [
      -7,
      5
    ]
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "north"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "north"
  }
}

THINK:
The agent is currently at the **chair** in Room 2.
The agent just rotated 90 degrees clockwise.
Previous orientation: West.
Current orientation: **North** (West + 90 deg = North).

Observations from current `Observe()`:
- **desklamp**: front-left, mid distance, facing left.
- **basket**: front, mid distance.

Reference frame (Agent-centric):
- Origin: Agent (at chair).
- +y: Agent's forward direction (North).
- +x: Agent's right (East).
- -x: Agent's left (West).
- -y: Agent's backward (South).

Mapping objects to coordinates (approximate based on bins):
- **desklamp**:
- "front-left": Angle roughly 45 degrees left of front.
- "mid distance": (2, 4]. Let's estimate distance = 3.
- Position: x ≈ -2, y ≈ 2.
- "facing left":
- Object facing is relative to the agent's view or global?
- Instructions say: "Orientation: forward/backward/right/left (ego) ... When agent faces north: forward = north, right = east...". The report says "facing left".
- If "facing left" means the object's front is pointing to the agent's left.
- Agent faces North. Agent's Left is West. So object faces West.
- In local frame (+y is North), West is -x.
- So facing: "-x".

- **basket**:
- "front": Angle roughly 0 degrees.
- "mid distance": (2, 4]. Let's estimate distance = 3.
- Position: x = 0, y = 3.
- Facing: Not specified (or not observed).

Wait, I need to check the previous observations to ensure consistency if possible, but the local map is strictly about the current `Observe()` call.
Current `Observe()`: desklamp, basket.
What about the plant? The previous observation (facing West) said plant was front-right (NW). Now facing North, NW is front-left. The plant *should* be visible if it's in FOV.
However, the current observation output *only* lists `desklamp` and `basket`. The plant might be blocked or just outside the specific bin boundaries reported (though "front-left" covers a 45 deg sector). Or maybe the basket is the plant? No, distinct names.
Actually, the prompt says "You observe: desklamp... basket...". It does not list the plant. I must adhere strictly to the *current* observation for the "objects" dict in the local map.

Coordinates calculation:
1. **desklamp**: front-left (-45 to -22.5 or so). Distance "mid" (let's say 3).
- If angle is -30 deg: x = 3*sin(-30) = -1.5, y = 3*cos(-30) ≈ 2.6.
- Integer coordinates: [-1, 3] or [-2, 2].
- Let's pick [-2, 2] for "front-left".
- Facing: "facing left". Agent faces North. Left is West (-x).

2. **basket**: front (approx 0). Distance "mid" (3).
- Position: [0, 3].
- Facing: None provided.

The "chair" is the agent's position, so it's not in the field of view (exclude agent).

Verify "facing left":
The text says "facing left". In the local frame where +y is forward, "left" corresponds to the direction of the -x axis. So facing should be "-x".

Final check on instructions:
- "Structure: include an 'objects' dict..."
- "include all objects and doors in your current field of view" -> desklamp, basket.
- "exclude agent".

JSON Construction:
```json
{
"origin": "agent",
"objects": {
"desklamp": {"position": [-2, 2], "facing": "-x"},
"basket": {"position": [0, 3]}
}
}
```
Wait, is "basket" an object? Yes, in list of objects (12: basket).
Is "facing" required for basket? The observation didn't specify it. "MUST include facing key IF the object has facing direction." The observation text: "basket: front, mid distance." No facing info. So omit facing.

Re-evaluating coordinates to be safe integers.
Mid distance is (2, 4]. 3 or 4.
Front-left: x < 0, y > 0. |x| approx y? or y > |x|?
Angle bins: [-45, -22.5) is front-left. This is the sector between NW and N-NW.
So y > |x|.
Example: x=-1, y=3 (dist = sqrt(10)≈3.16).
Or x=-2, y=3 (dist = sqrt(13)≈3.6).
Let's use [-1, 3] or [-2, 3].
Let's stick to simple integers. [-2, 3] looks reasonable.
Desklamp: "facing left".

Basket: "front". x=0. y=3.

FINAL ANSWER:
{
"origin": "agent",
"objects": {
"desklamp": {"position": [-2, 3], "facing": "-x"},
"basket": {"position": [0, 3]}
}
}

THINK:
The agent is currently at the **chair** in Room 2.
The agent just rotated 90 degrees clockwise.
Previous orientation: West.
Current orientation: **North** (West + 90 deg = North).

Observations from current `Observe()`:
- **desklamp**: front-left, mid distance, facing left.
- **basket**: fron...

{
  "origin": "agent",
  "objects": {
    "desklamp": {
      "position": [
        -2,
        2
      ],
      "facing": "-x"
    },
    "basket": {
      "position": [
        0,
        3
      ]
    }
  }
}

{
  "desklamp": {
    "position": [
      -2,
      2
    ],
    "facing": "west"
  },
  "basket": {
    "position": [
      0,
      4
    ],
    "facing": "east"
  }
}

{
  "origin": "agent",
  "objects": {
    "desklamp": {
      "position": [
        -2,
        2
      ],
      "facing": "-x"
    },
    "basket": {
      "position": [
        0,
        3
      ]
    }
  }
}

{
  "basket": {
    "position": [
      0,
      4
    ],
    "facing": "east"
  }
}

You rotated clockwise 90°. You observe:
• desklamp: front-left, mid distance, facing left
• basket: front, mid distance.
You have a maximum of 13 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You rotated clockwise 90°. You observe:
• desklamp: front-left, mid distance, facing left
• basket: front, mid distance.
You have a maximum of 13 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]...

Agent is at chair, facing North (after rotating 90 deg clockwise from West).
Observations:
- desklamp: front-left (NW).
- basket: front (North).
Newly discovered object: basket.
Room 2 contents so far: chair, desklamp, plant, basket.
The agent needs to check the remaining directions from the chair to ensure no other doors or objects exist.
The agent has faced West (seen nothing new except what was seen from door) and North (seen basket).
It hasn't faced East (back towards yellow door) or South.
Let's rotate 90 clockwise to face East. This looks back towards the wall with the yellow door. It might reveal corners or objects along that wall.

Agent is at chair, facing North (after rotating 90 deg clockwise from West).
Observations:
- desklamp: front-left (NW).
- basket: front (North).
Newly discovered object: basket.
Room 2 contents so far: chair, desklamp, plant, basket.
The agent needs to check the remaining directions from the chair t...

THINK:
The agent started at (0,0) facing North.
Initial observations from (0,0):
- North (facing North): teddybear (front-right, mid), bike (front-slight-right, slightly far), vase (front-left, mid).
- East (facing East): television (front, mid), green door (front-left, slightly far, front wall).
- South (facing South): Empty.
- West (facing West): vase (front-right, mid), yellow door (front, mid, front wall).

Let's estimate coordinates.
Agent at (0,0).
Facing North:
- teddybear: front-right (approx NE). "mid distance" (2-4m).
- bike: front-slight-right (approx NNE). "slightly far" (4-8m).
- vase: front-left (approx NW). "mid distance".

Facing East:
- television: front (East). "mid distance".
- green door: front-left (NE). "slightly far".

Facing West:
- vase: front-right (NW). "mid distance".
- yellow door: front (West). "mid distance".

Agent jumped to yellow door. Distance bin "mid" is (2,4]. Let's estimate yellow door at (-3, 0) or (-4, 0).
Let's standardize the grid. Usually steps are integers. "mid" often implies 3 or 4 units.
If yellow door is at (-3, 0) on the West wall of Room 1.
Agent is at yellow door (-3, 0). Facing West.
Observations from yellow door:
- chair: front (West), near. "near" is (0,2]. Let's say chair is at (-3 - 2, 0) = (-5, 0). Or closer (-4, 0).
- desklamp: front-right (NW), slightly far.
- plant: front-slight-right (WNW), slightly far.

Agent jumped to chair. Let's assume chair is at (-5, 0).
Agent at chair (-5, 0), facing West.
Observations from chair (facing West):
- desklamp: front-right (NW), mid distance.
- plant: front-right (NW), slightly far.

Agent rotated 90 deg clockwise (facing North) at chair.
Observations from chair (facing North):
- desklamp: front-left (NW), mid.
- basket: front (North), mid.
If basket is North of chair (-5, 0) and mid distance (approx 3), basket at (-5, 3).
Desklamp is NW of chair.

Agent rotated 90 deg clockwise (facing East) at chair.
Observations from chair (facing East):
- yellow door: front (East), near.
Wait, previous distance chair-to-door was "near" (from door looking at chair).
Now looking back, it is "near". Consistent.
If chair is (-5, 0) and door is (-3, 0), distance is 2. Fits "near" ((0,2]).

Let's refine coordinates:
Room 1 (Origin 0,0):
- Yellow Door (West): (-3, 0).
- Green Door (East): (3, 0)? Or (4,0)?
- From (0,0) facing East, green door was "front-left, slightly far".
- "Front-left" means NE. "Slightly far" means >4.
- If it's on the "front wall" (East wall), it must be at x = some positive value.
- If it's NE, y > 0.
- Let's say x=4, y=2?
- Objects in Room 1:
- Vase: NW. Seen from N (front-left) and W (front-right). Position approx (-2, 2).
- Teddybear: NE/SE? Seen from N as "front-right" (NE).
- Bike: NNE.
- TV: East.

Room 2 (Connected to Yellow Door):
- Door at (-3, 0).
- Chair at (-5, 0).
- Basket at (-5, 3).
- Desklamp at approx (-7, 2) or similar (NW of chair).
- Plant at approx (-8, 2) or similar.

We need to output the map.
Current Agent Position: At chair (-5, 0). Facing: East.
Objects to include:
Room 1:
- teddybear
- bike
- vase
- television
- green door
- yellow door
Room 2:
- chair
- desklamp
- plant
- basket

Let's assign specific integer coordinates based on bins.
Assume "mid" ~ 3, "near" ~ 1 or 2, "slightly far" ~ 5 or 6.
Agent start (0,0).
Room 1:
- Yellow Door: West, mid. (-3, 0).
- Vase: Front-left (N) -> NW. Front-right (W) -> NW. Distance mid (~3). (-2, 2).
- Teddybear: Front-right (N) -> NE. Mid (~3). (2, 2).
- Bike: Front-slight-right (N) -> NNE. Slightly far (~5). (1, 5).
- Television: Front (E). Mid (~3). (3, 0).
- Green Door: Front-left (E) -> NE. Slightly far (~5). On front wall (East). Maybe (3, 4)?
- Note: "on front wall" usually implies the wall perpendicular to the view. If facing East, front wall is the East wall (x=constant). So x=3 or 4. If distance is 5 and it's NE, dy=3 or 4. Let's guess (3, 4).

Room 2:
- Chair: West of yellow door (-3,0) by "near" (2). (-5, 0).
- Basket: North of chair (-5,0) by "mid" (3). (-5, 3).
- Desklamp: NW of chair. Front-left when facing N. Front-right when facing W. Mid distance (~3). (-7, 2).
- Plant: NW of chair. Slightly far (~5). (-8, 3).

Final Map Construction:
Agent: pos [-5, 0], facing "east".
Doors:
- yellow door: [-3, 0]
- green door: [3, 4] (Estimate)
Objects:
- teddybear: [2, 2]
- bike: [1, 5]
- vase: [-2, 2]
- television: [3, 0]
- chair: [-5, 0] (facing "left" -> relative to whom? Object facing. Observation said "facing left" when viewed from door (West). If viewed from East (looking West), "facing left" means facing South. Let's assume facing "south").
- Wait, "facing left" in "You observe: chair: front, near, facing left" (Agent facing West).
- Agent facing West. Left is South. So Chair faces South.
- desklamp: [-7, 2]. Faced "forward" when viewed from door (facing West). So faces West.
- "facing forward" when agent faces West -> object faces West.
- plant: [-8, 3].
- basket: [-5, 3].

Recalculating orientations based on descriptions:
- teddybear: "facing right" seen from (0,0) facing N. Agent's right is East. Bear faces East.
- bike: "facing right" seen from (0,0) facing N. Faces East.
- television: "facing right" seen from (0,0) facing E. Agent's right is South. TV faces South.
- chair: "facing left" seen from yellow door facing W. Agent's left is South. Chair faces South.
- desklamp: "facing forward" seen from yellow door facing W. Agent's forward is West. Lamp faces West.

Check "desklamp is south, near to plant" (From JumpTo(yellow door) output).
- My coords: Lamp (-7, 2), Plant (-8, 3).
- Lamp south of plant? y(lamp)=2, y(plant)=3. Yes, 2 < 3. Correct.
- Near? (-7,2) to (-8,3) is sqrt(1+1)=1.41. Yes.

Check "teddybear is south, near to bike" (From initial Observe).
- My coords: Bear (2, 2), Bike (1, 5).
- Bear south of bike? 2 < 5. Yes.
- Near? Dist = sqrt(1 + 9) = 3.16. "Near" is (0,2]. 3.16 is "mid".
- Maybe adjust coordinates.
- Bear at (2, 3), Bike at (2, 5)? Dist 2.
- Or Bear (2, 3), Bike (2, 4).
- Let's shift Bear to (1, 3) and Bike to (1, 5).
- Vase at (-2, 2).

Cognitive Map JSON construction.

FINAL ANSWER:
```json
{
"agent": {"position": [-5, 0], "facing": "east"},
"yellow door": {"position": [-3, 0]},
"green door": {"position": [3, 4]},
"teddybear": {"position": [2, 2], "facing": "east"},
"bike": {"position": [1, 4], "facing": "east"},
"vase": {"position": [-2, 2]},
"television": {"position": [3, 0], "facing": "south"},
"chair": {"position": [-5, 0], "facing": "south"},
"desklamp": {"position": [-7, 2], "facing": "west"},
"plant": {"position": [-8, 3]},
"basket": {"position": [-5, 3]}
}
```

THINK:
The agent started at (0,0) facing North.
Initial observations from (0,0):
- North (facing North): teddybear (front-right, mid), bike (front-slight-right, slightly far), vase (front-left, mid).
- East (facing East): television (front, mid), green door (front-left, slightly far, front wall).
- ...

{
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ]
  },
  "green door": {
    "position": [
      3,
      4
    ]
  },
  "teddybear": {
    "position": [
      2,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ]
  },
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "plant": {
    "position": [
      -8,
      3
    ]
  },
  "basket": {
    "position": [
      -5,
      3
    ]
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  }
}

THINK:
The agent is currently located at the 'chair' in Room 2.
The agent's current orientation is East (it rotated 90 degrees clockwise from North).
The 'yellow door' is observed "front, near, on front wall".
"Front" means +y in the agent's local frame.
"Near" usually implies a distance around 1-2 units.
"On front wall" means the door's normal is facing -y (towards the agent) or simply located at some +y coordinate.
The door connects Room 1 and Room 2.
Since the agent is at the chair facing East (local +y), the yellow door is at (0, y) where y > 0.
Let's estimate coordinates. "Near" distance bin is (0, 2]. Let's say y=2. So position is [0, 2].
The door is "on front wall". Since I'm facing it, the wall is perpendicular to my view.
This is a Local Cognitive Map relative to the agent.
The object is "yellow door".
Position: [0, 2] (approximate based on "near").
Facing: Usually doors don't have an intrinsic facing like objects, but "on front wall" implies the wall orientation. The schema asks for "facing" if the object has it. Doors are often treated as locations. If I must assign facing, a door on the East wall (relative to the room) faces West (towards the room). However, in local frame, the agent is facing +y (East). The door is in front. The door "faces" the agent? Or the door is an opening. I will omit facing for the door unless it's clear. The prompt examples show "facing" for objects like chairs. The prompt earlier said "facing right" for objects. The yellow door report says "on front wall". I'll skip "facing" for the door unless I can infer it. The examples usually have "facing" for objects with fronts.
Wait, let me check the previous observations. "chair ... facing left". "desklamp ... facing forward". "yellow door ... on front wall". It doesn't say "facing X". So I omit facing for the door.

Wait, I need to check the "Local Cognitive Map" instructions.
"include all objects and doors in your current field of view".
"Facing: use "+x|-x|+y|-y" (local axes)".
Since the door doesn't have a reported "facing" direction in the observation (unlike "facing left"), I will just put the position.

Wait, I should confirm the coordinates.
Distance bins: =0 same, (0,2] near.
So distance is ~2.
Direction: Front -> (0, 2).
So:
"yellow door": {"position": [0, 2]}

Wait, previously: "JumpTo(chair)".
Previous observation from chair (facing North): "desklamp: front-left", "basket: front".
Previous observation from chair (facing West): "desklamp: front-right", "plant: front-right".
Current observation (facing East): "yellow door: front, near".
So relative to the agent (at chair, facing East):
yellow door is at [0, 2].

The output format requires:
THINK: ...
FINAL ANSWER: { ... }

THINK:
The agent is at the 'chair' facing East. The only object in the current FOV is the 'yellow door'.
The 'yellow door' is 'front' (local +y) and 'near' (distance roughly 1-2). Let's use [0, 2].
No facing information provided for the door in the observation "on front wall".

FINAL ANSWER:
{
"origin": "agent",
"objects": {
"yellow door": {"position": [0, 2]}
}
}

THINK:
The agent is currently located at the 'chair' in Room 2.
The agent's current orientation is East (it rotated 90 degrees clockwise from North).
The 'yellow door' is observed "front, near, on front wall".
"Front" means +y in the agent's local frame.
"Near" usually implies a distance around 1-2 ...

{
  "origin": "agent",
  "objects": {
    "yellow door": {
      "position": [
        0,
        2
      ]
    }
  }
}

{
  "yellow door": {
    "position": [
      0,
      2
    ],
    "facing": "east"
  }
}

{
  "origin": "agent",
  "objects": {
    "yellow door": {
      "position": [
        0,
        2
      ]
    }
  }
}

You rotated clockwise 90°. You observe:
• yellow door: front, near, on front wall.
You have a maximum of 12 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You rotated clockwise 90°. You observe:
• yellow door: front, near, on front wall.
You have a maximum of 12 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]...

Agent is at chair, facing East.
Observations: yellow door (front, near).
This confirms the location of the yellow door relative to the chair.
Agent still needs to check South.
Rotate 90 clockwise to face South.

Agent is at chair, facing East.
Observations: yellow door (front, near).
This confirms the location of the yellow door relative to the chair.
Agent still needs to check South.
Rotate 90 clockwise to face South....

THINK:
The agent has explored Room 1 and Room 2.
Initial position in Room 1: (0,0) facing North.
Objects in Room 1:
- teddybear: (2, 2) approx. Observation: front-right (NE), mid distance (2-4). Facing right (East). Wait, previous log said: "teddybear: front-right, mid distance, facing right". From (0,0) facing North. Front-right is NE. Mid distance is >2. Let's estimate (2,2) or (1,2).
- bike: (3, 3) approx. Observation: front-slight-right (NNE), slightly far (4-8). Facing right (East).
- vase: (-2, 2) approx. Observation: front-left (NW), mid distance.
- television: (3, 0) approx. Observation from (0,0) facing East: front, mid distance. Facing right (South).
- green door: (4, 4) approx? Observation from (0,0) facing East: front-left, slightly far. Front-left from East is NE. Slightly far is 4-8. "On front wall" usually means the wall the agent is facing or close to. From East, front-left is NE. Let's assume on East wall.
- yellow door: (-3, 0) approx. Observation from (0,0) facing West: front, mid distance. Front is West. Mid distance is 2-4. Let's say (-3, 0).

Jumping to yellow door: Agent at (-3, 0). Facing West.
Room 2 observations from yellow door:
- chair: front (West), near (0-2). Let's say (-4, 0) or (-5, 0).
- desklamp: front-right (NW), slightly far.
- plant: front-slight-right (WNW), slightly far.

Jumping to chair: Agent at chair. Let's estimate chair at (-5, 0).
From chair (-5, 0):
- Facing North:
- desklamp: front-left (NW), mid distance.
- basket: front (North), mid distance. Let's say (-5, 3).
- Facing East:
- yellow door: front, near. Confirms chair is close to door. If door is (-3, 0), chair at (-5, 0) is distance 2 (near). Consistent.
- Facing South: Empty.

I need to construct coordinates.
Room 1:
Origin (0,0).
North: teddybear (~1, 3, facing East), bike (~2, 5, facing East), vase (~-2, 2).
East (facing): television (~3, 0, facing South).
West (facing): yellow door (~-3, 0, facing East? No, doors connect rooms. Usually reported "on front wall". If I face West, front wall is West wall. Door is at (-3,0)).

Room 2:
Connected via yellow door at (-3,0).
Chair is West of door. Say (-5, 0). Facing North (from "facing left" observation at door? Door view: chair facing left. Agent facing West. Left is South. So chair faces South? Wait. Log 1: "chair: front, near, facing left". Agent facing West. Left of West is South. So chair faces South. Log 2 (at chair, facing North): desklamp... Log 2 didn't mention chair facing. It's the agent's position).
Let's re-read Log 1 (at door): "chair: front, near, facing left". Agent facing West. Left is South. Chair faces South.
Let's refine coordinates.
Agent starts (0,0).
teddybear: From (0,0) N, front-right (NE), mid (3). (2,2). Faces East.
bike: From (0,0) N, front-slight-right (NNE), slightly far (5). (2, 5). Faces East.
vase: From (0,0) N, front-left (NW), mid (3). (-2, 2).
television: From (0,0) E, front (E), mid (3). (3, 0). Faces South (facing right relative to East).
green door: From (0,0) E, front-left (NE), slightly far (5). On front wall? "on front wall" relative to East facing agent usually means the wall in front (East wall). But it's front-left. Maybe (3, 3) or (4, 4)?
yellow door: From (0,0) W, front (W), mid (3). (-3, 0). On front wall (West wall).

Room 2 Objects (relative to chair at -5, 0):
Chair at (-5, 0).
From Chair facing North:
- desklamp: front-left (NW), mid (3). (-7, 2). Facing left (West? Relative to North is West).
- basket: front (N), mid (3). (-5, 3).
- plant: from Chair facing West (before rotation), front-right (NW). From Chair facing North, didn't see? Ah, previous log "desklamp front-right, plant front-right" (facing West).
Wait, "You jumped to chair... You observe: desklamp: front-right... plant: front-right" (facing West).
Front-right of West is NW.
Then "You rotated clockwise 90 (to North)... desklamp: front-left... basket: front".
Front-left of North is NW. Consistent.
Basket was not seen facing West (would be Front-Right/Right).
So basket is North of chair.
Desklamp is NW of chair.
Plant is NW of chair (seen facing West).

Coordinates:
Agent: Currently at chair (-5, 0). Last facing South.
teddybear: (2, 2), facing: east
bike: (2, 5), facing: east
vase: (-2, 2)
television: (3, 0), facing: south
green door: (3, 3) (approx, "front-left" from East)
yellow door: (-3, 0)
chair: (-5, 0), facing: south
desklamp: (-7, 2), facing: west
basket: (-5, 3)
plant: (-7, 1) (approx, near desklamp)

Let's format the JSON.

FINAL ANSWER:
```json
{
"agent": {"position": [-5, 0], "facing": "south"},
"teddybear": {"position": [2, 2], "facing": "east"},
"bike": {"position": [2, 5], "facing": "east"},
"vase": {"position": [-2, 2]},
"television": {"position": [3, 0], "facing": "south"},
"green door": {"position": [3, 3]},
"yellow door": {"position": [-3, 0]},
"chair": {"position": [-5, 0], "facing": "south"},
"desklamp": {"position": [-7, 2], "facing": "west"},
"basket": {"position": [-5, 3]},
"plant": {"position": [-7, 1]}
}
```

THINK:
The agent has explored Room 1 and Room 2.
Initial position in Room 1: (0,0) facing North.
Objects in Room 1:
- teddybear: (2, 2) approx. Observation: front-right (NE), mid distance (2-4). Facing right (East). Wait, previous log said: "teddybear: front-right, mid distance, facing right". From ...

{
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      2,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      2,
      5
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ]
  },
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "green door": {
    "position": [
      3,
      3
    ]
  },
  "yellow door": {
    "position": [
      -3,
      0
    ]
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "basket": {
    "position": [
      -5,
      3
    ]
  },
  "plant": {
    "position": [
      -7,
      1
    ]
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  }
}

You rotated clockwise 90°. You observe: No objects in field of view..
You have a maximum of 11 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You rotated clockwise 90°. You observe: No objects in field of view..
You have a maximum of 11 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]...

Agent is at chair, facing South. Observation: Empty.
Agent has scanned Room 2 (West, North, East, South) from the chair.
Objects found: chair, desklamp, plant, basket.
Doors found: yellow door (leads back to Room 1).
No other doors found in Room 2.
So Room 2 is a dead end.
The agent must return to Room 1 and proceed to the "green door" to find Room 3.
Path: Chair -> Yellow Door -> Room 1 -> Green Door.
Current orientation: South.
Yellow door is to the East (Left).
The agent can JumpTo(yellow door).
The agent needs to orient correctly to see the green door in Room 1 efficiently, but first just get to the door.
JumpTo(yellow door). Orientation remains South.
At the yellow door (facing South), the agent is in the doorway.
It can see into Room 1 (to the East/South) and Room 2 (to the West).
The green door in Room 1 is on the East wall of Room 1.
From the yellow door (West wall of Room 1), the green door is across the room to the East.
If the agent faces South at the yellow door, East is "Left".
The FOV is 90 degrees. Facing South covers SE to SW.
East is 90 degrees left.
So facing South might not show the green door (which is East).
The agent should probably Rotate to face East after jumping, or before jumping?
Orientation doesn't change on Jump.
If I jump to yellow door now (facing South), I will face South at the door.
Then I can Rotate(90) (counter-clockwise) to face East.
Let's just Jump to the door first.

Agent is at chair, facing South. Observation: Empty.
Agent has scanned Room 2 (West, North, East, South) from the chair.
Objects found: chair, desklamp, plant, basket.
Doors found: yellow door (leads back to Room 1).
No other doors found in Room 2.
So Room 2 is a dead end.
The agent must return to R...

THINK:
The previous action failed because the agent was facing South and the yellow door (which is to the East) was not in the FOV (South covers SE to SW, but strictly speaking, East is 90 degrees left. If FOV is [-45, 45], East is at +90 (or -270) relative to South? No, South is 180. East is 90. Relative angle is -90. -90 is outside [-45, 45]. So yes, not visible).
The agent is currently at the chair facing South.
To return to the yellow door, the agent must turn to face it. The yellow door is to the East.
So the agent must Rotate(-90) (counter-clockwise) to face East.
Then the yellow door will be in front.
Then the agent can JumpTo(yellow door).
But I am asked to output the Cognitive Map first.

Cognitive Map Construction:
Origin (0,0) is initial position in Room 1 facing North.
Room 1 Objects:
- teddybear: front-right (NW? No, front is N. Front-right is NE). Wait.
Initial: Facing N.
Observation 1:
- teddybear: front-right (NE), mid distance (approx 3-4). facing right (East).
- bike: front-slight-right (NNE), slightly far (approx 5-6). facing right.
- vase: front-left (NW), mid distance.
Let's approximate coordinates.
Agent at (0,0). Facing N.
teddybear: NE. Mid dist (3). Let's say (2, 2). Facing East.
bike: NNE. Slightly far (5). Let's say (2, 5). Facing East.
vase: NW. Mid dist (3). Let's say (-2, 2).

Action 2: Rotate 90 -> Face East.
Observation 2:
- television: front (East), mid distance (3). Pos: (3, 0). Facing right (South).
- green door: front-left (NE), slightly far (5). On front wall (East wall). If on East wall, x is constant? Or it's the wall in front.
Let's assume Room 1 is a rectangle around (0,0).
If green door is on East wall, x is roughly 4 or 5.
"front-left" relative to East is North-East. So y > 0.
Let's put green door at (4, 2).

Action 3: Rotate 90 -> Face South.
Observation 3: Empty.

Action 4: Rotate 90 -> Face West.
Observation 4:
- vase: front-right (NW relative to West? West is -x. Right is North. Front-right is NW). Confirms vase at (-2, 2).
- yellow door: front (West), mid distance (3). On front wall (West wall).
Pos: (-3, 0).
So Room 1 extends from x=-3 to x=4 approx.

Action 5: JumpTo(yellow door).
Agent at yellow door (-3, 0). Facing West.
Observation 5 (Room 2):
- chair: front (West), near (1-2). Pos: (-5, 0). Facing left (South).
- desklamp: front-right (NW), slightly far (5). Pos: (-7, 2). Facing forward (West? or relative to object?). "facing forward" usually means facing the agent? Or facing same direction as agent? Instruction says "forward/backward... (ego)".
Usually "facing forward" for an object means its front is towards the viewer? Or it faces the same way? Let's check: "facing right" for TV means TV faces South when agent faces East.
Agent faces East (Right is South). TV faces Right -> South.
So "facing forward" means facing the direction the agent is facing? Or facing the agent?
"facing forward" relative to agent facing West -> object faces West.
desklamp faces West.
- plant: front-slight-right (WNW), slightly far (5). Pos: (-8, 1).

Action 6: JumpTo(chair).
Agent at (-5, 0). Facing West.
Observation 6:
- desklamp: front-right (NW), mid distance. Consistent.
- plant: front-right.

Action 7: Rotate 90 -> Face North.
Observation 7:
- desklamp: front-left (NW). Consistent. Facing left (West).
- basket: front (North), mid distance (3). Pos: (-5, 3).

Action 8: Rotate 90 -> Face East.
Observation 8:
- yellow door: front (East), near. Consistent.

Action 9: Rotate 90 -> Face South.
Observation 9: Empty.

Current State:
Agent at chair (-5, 0). Facing South.
Objects:
Room 1:
- teddybear (2, 2) facing East
- bike (2, 5) facing East
- vase (-2, 2)
- television (3, 0) facing South
- green door (4, 2)
- yellow door (-3, 0)
Room 2:
- chair (-5, 0) facing South
- desklamp (-7, 2) facing West
- plant (-8, 1)
- basket (-5, 3)

The agent is at (-5, 0) facing South.

FINAL ANSWER:
```json
{
"agent": {"position": [-5, 0], "facing": "south"},
"teddybear": {"position": [2, 2], "facing": "east"},
"bike": {"position": [2, 5], "facing": "east"},
"vase": {"position": [-2, 2]},
"television": {"position": [3, 0], "facing": "south"},
"green door": {"position": [4, 2]},
"yellow door": {"position": [-3, 0]},
"chair": {"position": [-5, 0], "facing": "south"},
"desklamp": {"position": [-7, 2], "facing": "west"},
"plant": {"position": [-8, 1]},
"basket": {"position": [-5, 3]}
}
```

THINK:
The previous action failed because the agent was facing South and the yellow door (which is to the East) was not in the FOV (South covers SE to SW, but strictly speaking, East is 90 degrees left. If FOV is [-45, 45], East is at +90 (or -270) relative to South? No, South is 180. East is 90. Re...

{
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      2,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      2,
      5
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ]
  },
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "green door": {
    "position": [
      4,
      2
    ]
  },
  "yellow door": {
    "position": [
      -3,
      0
    ]
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "plant": {
    "position": [
      -8,
      1
    ]
  },
  "basket": {
    "position": [
      -5,
      3
    ]
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  }
}

THINK:
The previous action failed because the `yellow door` was not in the field of view. The agent was facing South at the chair, and the yellow door is to the East.
Since the jump failed, the agent is still at the chair, facing South.
The system executed an `Observe` automatically after failure, showing "No objects in field of view".
So the Local Cognitive Map should reflect the current observation (empty).
However, the prompt asks for a JSON map of the *current field of view*.
Since the observation is "No objects in field of view", the objects dictionary should be empty.

Wait, I need to be careful. The prompt says "Represents the scene as a JSON map." and "Include only observed objects."
Does it mean observed *in the last step* (which was empty) or observed *so far*?
"Content: 'objects' dict; include all objects and doors in your current field of view; exclude agent."
So only current FOV.
Current FOV is empty.

FINAL ANSWER:
{
"origin": "agent",
"objects": {}
}

THINK:
The previous action failed because the `yellow door` was not in the field of view. The agent was facing South at the chair, and the yellow door is to the East.
Since the jump failed, the agent is still at the chair, facing South.
The system executed an `Observe` automatically after failure, s...

{
  "origin": "agent",
  "objects": {}
}

{
  "origin": "agent",
  "objects": {}
}

Cannot jump to 'yellow door': object not visible. Subsequent actions are skipped due to failure, instead an observe is executed: You observe: No objects in field of view..
You have a maximum of 10 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

Cannot jump to 'yellow door': object not visible. Subsequent actions are skipped due to failure, instead an observe is executed: You observe: No objects in field of view..
You have a maximum of 10 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ...

Ah, the agent failed to jump to the yellow door because it was not in the FOV. The agent was facing South, and the yellow door is to the East (Left).
The previous action `Rotate(90)` (facing South) saw "No objects".
To jump to the yellow door, the agent must see it.
The agent knows the yellow door is to the East (relative to the chair).
So the agent must Rotate(-90) or Rotate(270) to face East.
Actually, the agent previously faced East and saw the yellow door.
So, the agent is currently facing South.
Action: Rotate(-90) (to face East).
Then JumpTo(yellow door).
Can I combine Rotate and Jump? Yes.
Can I Observe after Jump? Yes.
So: Rotate(-90), JumpTo(yellow door), Observe().
Wait, the constraints say: "No more than one Observe()". "Observe() ... must be the last action".
And JumpTo requires the object to be in FOV *previously observed*?
"The object you jump to MUST be in your field of view and previously observed."
Wait, "in your field of view" implies currently visible? Or just known?
"Jump to the same position as the object... The object you jump to MUST be in your field of view".
This usually means *currently* in the field of view.
If I am facing South and the door is East, it is NOT in my FOV (which is South ± 45 deg? No, usually 90 deg FOV means ±45 deg from center). East is 90 deg away.
So I must Rotate to face it.
Sequence: Rotate(-90). Now facing East. Door is in FOV.
Then JumpTo(yellow door).
Then Observe().
This is a valid sequence: [Rotate(-90), JumpTo(yellow door), Observe()].

Ah, the agent failed to jump to the yellow door because it was not in the FOV. The agent was facing South, and the yellow door is to the East (Left).
The previous action `Rotate(90)` (facing South) saw "No objects".
To jump to the yellow door, the agent must see it.
The agent knows the yellow door i...

THINK:
The agent started at (0,0) in Room 1, facing North.
Initial observations from (0,0):
- Facing North: teddybear (front-right), bike (front-slight-right), vase (front-left).
- Facing East: television (front), green door (front-left).
- Facing West: vase (front-right), yellow door (front).
This places objects roughly:
- yellow door: West of (0,0). Let's say (-x, 0).
- green door: East of (0,0). Let's say (+x, y). Note: "front-left" when facing East means North-East.
- television: East of (0,0).
- teddybear, bike: North-East of (0,0).
- vase: North-West of (0,0).

Agent jumped to yellow door. Let's assume yellow door is at (-4, 0) for estimation (distance "mid" ~2-4m).
Agent facing West at yellow door.
Observations from yellow door (facing West):
- chair: front, near. So chair is West of yellow door. Say (-6, 0).
- desklamp: front-right (NW).
- plant: front-slight-right (W-NW).

Agent jumped to chair. Position roughly (-6, 0).
Agent rotated to face North. Saw desklamp (front-left, NW relative to chair), basket (front, North of chair).
Agent rotated to face East. Saw yellow door (front, near). Confirms chair is West of door.
Agent rotated to face South. Saw nothing.
Agent rotated to face East, jumped to yellow door. Now at (-4, 0) facing East.
Observations from yellow door (facing East) into Room 1:
- television: front (East), slightly far.
- teddybear: front-left (North-East), slightly far.
- bike: front-left (North-East), slightly far.
- green door: front-left (North-East), slightly far.

Let's refine coordinates.
Origin (0,0).
Yellow door: West, mid distance. Let's assign (-3, 0).
Chair: West of yellow door, near. Let's assign (-5, 0).
Basket: North of chair, mid distance. (-5, 3).
Desklamp: NW of chair. (-7, 2).
Plant: NW of chair. (-7, 4). (Just estimates).
Television: East of (0,0). From yellow door (-3,0) facing East, it's front, slightly far. So maybe (3, 0).
Green door: From yellow door (-3,0) facing East, it's front-left (NE). From (0,0) facing East, it was front-left (NE). So green door is at some (x, y) with x>0, y>0.
Wait, from (0,0) facing East, green door was "front-left". Front is East. Left is North. So NE.
From (-3,0) facing East, green door is "front-left". Still NE.
Teddybear: From (0,0) facing North, front-right (NE). From (-3,0) facing East, front-left (NE). Consistent.
Bike: Near teddybear.
Vase: From (0,0) facing North, front-left (NW).
Room 2 is West. Room 1 is Center. Room 3 is likely East/North-East.

Agent is currently at yellow door (approx -3, 0), facing East.
Goal: Go to green door.
Green door is in FOV (front-left).
Agent can JumpTo(green door).
Orientation at green door? Jumping doesn't change orientation. Agent will face East.
Green door is on "front wall" relative to the view from yellow door? The observation says "green door: front-left, slightly far, on front wall".
Wait, if I am facing East, "front wall" is the East wall.
So green door is on the East wall of Room 1.
If I jump to it facing East, I will be at the door looking into Room 3 (assuming Room 3 is East of Room 1).
So the plan is: JumpTo(green door), Observe().

Coordinate estimation for map:
Agent Start: (0,0)
Yellow Door: (-3, 0) (Mid distance ~3)
Chair: (-5, 0) (Near ~2 from door)
Basket: (-5, 3) (Mid ~3 from chair facing North)
Desklamp: (-7, 2) (Mid/Far NW from chair)
Plant: (-8, 3)
Television: (3, 0) (Mid from origin facing East)
Teddybear: (2, 3) (Mid NE from origin)
Bike: (3, 3)
Vase: (-2, 3) (Mid NW from origin)
Green Door: (3, 2) (Slightly far NE from yellow door, on East wall). Let's say (4, 2).

Current Agent State:
Position: At yellow door (-3, 0).
Facing: East.

FINAL ANSWER:
```json
{
"agent": {"position": [-3, 0], "facing": "east"},
"yellow door": {"position": [-3, 0]},
"chair": {"position": [-5, 0], "facing": "left"},
"desklamp": {"position": [-7, 2], "facing": "left"},
"plant": {"position": [-8, 3]},
"basket": {"position": [-5, 3]},
"television": {"position": [3, 0], "facing": "right"},
"teddybear": {"position": [2, 3], "facing": "right"},
"bike": {"position": [3, 3], "facing": "right"},
"vase": {"position": [-2, 3]},
"green door": {"position": [4, 2]}
}
```

THINK:
The agent started at (0,0) in Room 1, facing North.
Initial observations from (0,0):
- Facing North: teddybear (front-right), bike (front-slight-right), vase (front-left).
- Facing East: television (front), green door (front-left).
- Facing West: vase (front-right), yellow door (front).
This ...

{
  "agent": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ]
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "left"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "left"
  },
  "plant": {
    "position": [
      -8,
      3
    ]
  },
  "basket": {
    "position": [
      -5,
      3
    ]
  },
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "right"
  },
  "teddybear": {
    "position": [
      2,
      3
    ],
    "facing": "right"
  },
  "bike": {
    "position": [
      3,
      3
    ],
    "facing": "right"
  },
  "vase": {
    "position": [
      -2,
      3
    ]
  },
  "green door": {
    "position": [
      4,
      2
    ]
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  }
}

THINK:
The agent is at the yellow door (which is on the West wall of Room 1).
The agent is facing East (looking into Room 1).
Observations:
- television: front (East), slightly far, facing right.
- teddybear: front-left (North-East), slightly far, facing forward.
- bike: front-left (North-East), slightly far, facing forward.
- green door: front-left (North-East), slightly far, on front wall.

Coordinate estimation (relative to agent facing East):
Agent is at (0,0) in local frame. +y is East. +x is South. -x is North.
Wait, standard local frame: +y is Forward (East). +x is Right (South). -x is Left (North).
Observations:
- television: front -> y > 0, x ~ 0. "slightly far" -> y ~ 6. Facing right (South) -> +x.
- teddybear: front-left -> y > 0, x < 0. "slightly far" -> dist ~ 6. Facing forward (West? No, "facing forward" usually means facing the agent? Or facing the same direction as agent? The prompt says "facing forward/backward... (ego)". But the report says "facing forward". If an object faces forward, it faces the same direction as the agent? Or faces the agent?
Re-read instructions:
"Orientation: ... forward/backward/right/left (ego) ... When agent faces north: forward = north".
"facing forward" means the object's orientation is the same as the agent's current facing direction.
Agent faces East. Object faces East.
- bike: front-left -> y > 0, x < 0. Dist ~ 6. Facing forward -> East.
- green door: front-left -> y > 0, x < 0. Dist ~ 6. "on front wall".
Wait, if it's on the "front wall", it should be in front? But it says "front-left".
Room 1 layout recall:
Agent started at (0,0) facing North.
Teddybear/bike were North.
Green door was East (seen when facing East).
Now agent is at West wall facing East.
So North is to the Left.
Green door is on the East wall (the wall in front).
But it is reported as "front-left".
This suggests the green door is on the East wall, but North of the agent's current y-coordinate (in global frame).
In local frame (Forward=East, Left=North):
Green door is at (+y, -x).
Teddybear/bike are also front-left (+y, -x).

Let's assign approximate local coordinates.
Distance "slightly far" is (4,8]. Let's use 6.
Television: Front. (0, 6). Facing Right (+x).
Teddybear: Front-Left. (-3, 5). Facing Forward (+y).
Bike: Front-Left. (-2, 5). Facing Forward (+y).
Green Door: Front-Left. (-3, 6). Facing? Doors don't have "facing" in the same way, but "on front wall". The wall is the East wall. So the door faces West (into the room). But the prompt asks for "facing" if observed. "Green door ... on front wall". It doesn't give a "facing" direction like objects. I will omit facing for the door unless specified.

JSON construction:
Origin: agent.
Objects:
television: pos [0, 6], facing "+x" (Right).
teddybear: pos [-3, 5], facing "+y" (Forward).
bike: pos [-2, 5], facing "+y" (Forward).
green door: pos [-3, 6].

Wait, "facing forward" in the observation text usually means "facing the viewer" or "facing away"?
"facing forward" means the object is oriented towards the agent's forward direction?
Let's check the prompt: "Orientation: -forward/backward/right/left (ego)... When agent faces north: forward = north".
So "facing forward" means the object is facing North (if agent faces North).
Here agent faces East. So object faces East (+y).
If the object is a teddybear facing East, and I am looking East at it, I see its back?
Usually "facing forward" means facing the same way.
"facing right" means facing South (+x).

Refined coordinates:
Television: [0, 6], facing "+x".
Teddybear: [-3, 5], facing "+y".
Bike: [-2, 5], facing "+y".
Green door: [-3, 6].

Check "teddybear is south, near to bike" (from Step 1).
If Teddy is South of Bike:
In global coords (North is +y):
Teddy y < Bike y.
Here (Agent facing East):
Left is North.
So Bike should be more Left (more negative x) than Teddy?
Or Teddy is more Right (less negative x) than Bike?
Let's check "Teddybear is south, near to bike".
South is Right (in local frame).
So Teddy should have a larger x (closer to +x) than Bike.
My coords: Teddy x=-3, Bike x=-2.
-2 is larger than -3. So Bike is more "South" (Right) than Teddy.
Wait.
Global North is Left (-x). Global South is Right (+x).
Teddy is South of Bike -> Teddy has larger x value than Bike.
My coords: Teddy x=-3, Bike x=-2.
Bike is at -2 (more South). Teddy is at -3 (more North).
Contradiction.
I need Teddy to be South of Bike.
So Teddy x > Bike x.
Let's swap or adjust.
Bike at [-4, 5] (North-er). Teddy at [-2, 5] (South-er).
Distance constraints: Both are "front-left".
"Front-left" means angle in [22.5, 45] left?
Angle 0 is Front (+y). Left is +90? No, Left is -x usually?
Standard Math: +x is 0 deg. +y is 90 deg.
Agent Frame: Forward is +y. Right is +x. Left is -x.
Front-Left is roughly (+y, -x).
So x is negative.
South is +x direction.
Teddy is South of Bike -> Teddy x > Bike x.
Example: Teddy x = -2. Bike x = -4.
Both are negative (Left). -2 is greater than -4 (more towards Right/South).
So Teddy is South of Bike. Correct.

Updated Coords:
Television: [0, 6], facing "+x".
Bike: [-4, 6], facing "+y".
Teddybear: [-2, 6], facing "+y".
Green door: [-4, 7] (Assuming near bike).

Wait, earlier (Step 1): "teddybear: front-right... bike: front-slight-right". (Agent facing North).
If Agent facing North:
Front-Right = NE.
Front-Slight-Right = NNE.
Teddy (NE) is more East than Bike (NNE).
Teddy is South of Bike?
If Bike is NNE and Teddy is NE (more East, less North), then Teddy is indeed South of Bike.
Matches.

So in current view (Facing East):
Global North is Left. Global East is Forward.
Bike is more North (Left) -> More negative x.
Teddy is more South (Right) -> Less negative x.
So Bike x < Teddy x.
Consistent.

Final check on distance: "slightly far" (4-8).
I'll use y=6.
Bike x = -4, y = 6.
Teddy x = -2, y = 6.
Television x = 0, y = 6.
Green door x = -4, y = 7.

What about "facing"?
Television: "facing right". Right of agent (East) is South.
So TV faces South (+x).
Teddy: "facing forward". Forward is East.
So Teddy faces East (+y).
Bike: "facing forward".
So Bike faces East (+y).

JSON:
{
"origin": "agent",
"objects": {
"television": {"position": [0, 6], "facing": "+x"},
"teddybear": {"position": [-2, 6], "facing": "+y"},
"bike": {"position": [-4, 6], "facing": "+y"},
"green door": {"position": [-4, 7]}
}
}
Wait, green door is "on front wall".
Front wall is at some y. Say y=7.
If it is "front-left", its x is negative.
So [-4, 7] works.

FINAL ANSWER:
{
"origin": "agent",
"objects": {
"television": {"position": [0, 6], "facing": "+x"},
"teddybear": {"position": [-2, 6], "facing": "+y"},
"bike": {"position": [-4, 6], "facing": "+y"},
"green door": {"position": [-4, 7]}
}
}

THINK:
The agent is at the yellow door (which is on the West wall of Room 1).
The agent is facing East (looking into Room 1).
Observations:
- television: front (East), slightly far, facing right.
- teddybear: front-left (North-East), slightly far, facing forward.
- bike: front-left (North-East), sli...

{
  "origin": "agent",
  "objects": {
    "television": {
      "position": [
        0,
        6
      ],
      "facing": "+x"
    },
    "teddybear": {
      "position": [
        -2,
        6
      ],
      "facing": "+y"
    },
    "bike": {
      "position": [
        -4,
        6
      ],
      "facing": "+y"
    },
    "green door": {
      "position": [
        -4,
        7
      ]
    }
  }
}

{
  "teddybear": {
    "position": [
      -2,
      4
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -3,
      7
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      -4,
      4
    ],
    "facing": "east"
  },
  "television": {
    "position": [
      0,
      6
    ],
    "facing": "south"
  }
}

{
  "origin": "agent",
  "objects": {
    "television": {
      "position": [
        0,
        6
      ],
      "facing": "+x"
    },
    "teddybear": {
      "position": [
        -2,
        6
      ],
      "facing": "+y"
    },
    "bike": {
      "position": [
        -4,
        6
      ],
      "facing": "+y"
    },
    "green door": {
      "position": [
        -4,
        7
      ]
    }
  }
}

You rotated counterclockwise 90°. You jumped to yellow door. You observe:
• television: front, slightly far, facing right
• teddybear: front-left, slightly far, facing forward
• bike: front-left, slightly far, facing forward
• green door: front-left, slightly far, on front wall
Assume your current facing direction is called "north":
• teddybear is east, near to bike.
You have a maximum of 9 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You rotated counterclockwise 90°. You jumped to yellow door. You observe:
• television: front, slightly far, facing right
• teddybear: front-left, slightly far, facing forward
• bike: front-left, slightly far, facing forward
• green door: front-left, slightly far, on front wall
Assume your current ...

Agent is at the yellow door (West wall of Room 1), facing East (looking into Room 1).
Observations:
- television: front (East).
- teddybear: front-left (NE).
- bike: front-left (NE).
- green door: front-left (NE), on front wall (East wall).
The green door is the target to reach Room 3.
It is visible ("front-left") and "slightly far".
To enter Room 3, the agent needs to jump to the green door.
Can the agent jump directly to the green door from the yellow door?
The distance is "slightly far" (4-8m).
Is it in FOV? Yes.
So the agent can JumpTo(green door).
Orientation will remain East.
At the green door (on East wall), facing East, the agent will look into Room 3.
This seems correct.

Agent is at the yellow door (West wall of Room 1), facing East (looking into Room 1).
Observations:
- television: front (East).
- teddybear: front-left (NE).
- bike: front-left (NE).
- green door: front-left (NE), on front wall (East wall).
The green door is the target to reach Room 3.
It is visible...

THINK:
The agent has explored Room 1, Room 2, and entered Room 3.
Current position: At the "green door" (East wall of Room 1 / West wall of Room 3).
Facing: East.

Let's reconstruct the coordinates.
Initial position: (0,0) facing North in Room 1.
Initial Observations (from (0,0) facing N):
- teddybear: front-right (NE), mid distance (~3m). Facing right (East). Est: (2, 2).
- bike: front-slight-right (NNE), slightly far (~5m). Facing right (East). Est: (2, 4).
- vase: front-left (NW), mid distance (~3m). Est: (-2, 2).

Rotated 90 deg (Face East) at (0,0):
- television: front (E), mid distance (~3m). Facing right (South). Est: (3, 0).
- green door: front-left (NE), slightly far, on front wall (East wall). Est: (4, 4)? Or (4, 2)?
From (0,0) facing East, "front-left" is NE. Distance "slightly far" (4-8m).
The door is on the "front wall" (East wall). Let's assume Room 1 East wall is at x=something.
From (0,0) facing West, yellow door was "front" (West), mid distance (2-4m). Let's say x=-3.
So Room 1 width is from x=-3 to x=?.
Let's refine.

Jump to yellow door (from (0,0) facing West):
- Yellow door is at roughly (-3, 0).
- Agent at yellow door facing West looks into Room 2.

Jump to chair (in Room 2):
- From yellow door (-3, 0) facing West:
- chair: front (West), near (0-2m). Est: (-4.5, 0). Facing Left (South).
- Agent is at chair (-4.5, 0).

From Chair facing North (in Room 2):
- desklamp: front-left (NW), mid distance. Est: (-6, 2). Facing left (West).
- basket: front (N), mid distance. Est: (-4.5, 3).
- plant: (seen earlier) front-right (NW from chair facing West -> NW from chair is (-6, 1)? No. From chair facing West, front-right is NW. From chair facing North, front-left is NW. Consistent).

Return to yellow door (-3, 0) facing East (into Room 1).
Observations from yellow door (-3,0) facing East:
- television: front (East), slightly far. Consistent with (3,0). Distance 6m is slightly far.
- teddybear: front-left (NE), slightly far. Consistent with (2,2).
- bike: front-left (NE), slightly far. Consistent with (2,4).
- green door: front-left (NE), slightly far.
Wait, from (-3,0), NE is a wide range.
Previous observation from (0,0) facing East: green door was front-left (NE).
Let's assume the green door is at (3, 4) or (4, 3).
From (-3,0), (3,4) is dx=6, dy=4. Angle = atan(4/6) = 33 deg (Left of East). Fits "front-left" (0-45 deg Left). Distance sqrt(36+16) = 7.2 (slightly far). This fits.
Let's place green door at (3, 4). It is on the "front wall" (East wall) of Room 1 when facing East. If television is at (3,0), the wall is x=3 (or x=4). If TV is mid-distance from (0,0) facing East, say x=3. Then wall is x=3.
If wall is x=3, green door is at (3, y).
From (-3,0), looking at (3, y), distance is sqrt(36 + y^2).
From (0,0), looking at (3, y), distance is sqrt(9 + y^2).
From (0,0) facing East (FOV N to S), door at (3, y) is front-left (NE) -> y > 0.
From (-3,0) facing East, door at (3,y) is front-left -> y > 0.
Let's estimate y. Maybe y=3 or 4. Let's say (3, 3).

Jump to green door. Position ~ (3, 3). Facing East.
Observations into Room 3 (from green door (3,3) facing East):
- shoppingcart: front-right (SE), slightly far.
- scooter: front-slight-right (ESE), mid distance.
- shoes: front-right (SE), slightly far.
- shelf: front-slight-left (ENE), slightly far.

Let's refine coordinates based on distances.
Room 1:
Center roughly (0,0).
West wall at x=-3 (yellow door).
East wall at x=3 (green door).
North/South walls?
Vase at (-2, 2). Teddy at (2, 2). Bike at (2, 4).
So maybe North wall is further up, or open?
Room 2:
West of yellow door (-3, 0).
Chair at (-4.5, 0).
Desklamp at (-6, 2).
Basket at (-4.5, 3).
Room 3:
East of green door (3, 3).
From (3,3) facing East:
Shoppingcart (SE): x>3, y<3. "Slightly far" (4-8m). Say dx=3, dy=-3 -> (6, 0).
Scooter (ESE): "mid distance" (2-4m). x>3, y<3. Say dx=3, dy=-1 -> (6, 2).
Shoes (SE): "slightly far". near to shoppingcart.
Shelf (ENE): x>3, y>3. "slightly far". Say (6, 5).

Let's finalize the list.
Agent: at green door. Position (3, 3). Facing East.
Room 1 Objects:
- television: (3, 0). Facing West? (seen facing right from (0,0)East -> facing South? seen facing right from (-3,0)East -> facing South? No, facing right relative to agent facing East means object faces South. Wait.
"television: front, mid distance, facing right" (Agent faces East). Agent's right is South. So TV faces South.
"television: front, slightly far, facing right" (Agent faces East). TV faces South.
- teddybear: (2, 2). "facing right" (Agent faces North). Agent's right is East. Bear faces East.
"facing forward" (Agent faces East). Agent's forward is East. Bear faces East. Consistent.
- bike: (2, 4). "facing right" (Agent faces North). Faces East.
"facing forward" (Agent faces East). Faces East. Consistent.
- vase: (-2, 2).
- green door: (3, 3).
- yellow door: (-3, 0).

Room 2 Objects:
- chair: (-5, 0). "facing left" (Agent faces West). Left is South. Chair faces South.
- desklamp: (-6, 2). "facing forward" (Agent faces West). Faces West.
"facing left" (Agent faces North). Left is West. Consistent.
- plant: (-6, 1).
- basket: (-5, 3).

Room 3 Objects:
- shoppingcart: (6, 0). "facing right" (Agent faces East). Right is South. Cart faces South.
- scooter: (6, 2). "facing forward" (Agent faces East). Faces East.
- shoes: (6, -1). "facing forward" (Agent faces East). Faces East.
- shelf: (6, 5).

Refining coordinates for integer grid.
Yellow Door: (-3, 0).
Green Door: (3, 2) (let's say 2 to match "front-left" from (0,0) facing East? angle atan(2/3)=33 deg. fits. From (-3,0) to (3,2) is angle atan(2/6)=18 deg. fits front-left). Let's use (3, 2).
Teddybear: (1, 2).
Bike: (1, 4).
Vase: (-1, 2).
Television: (3, -1) (mid dist from 0,0 is 3. if (3,0) dist is 3. angle 0. fits. facing South).
Chair: (-5, 0).
Desklamp: (-6, 2).
Basket: (-5, 3).
Plant: (-6, 1).
Shoppingcart: (6, -1).
Scooter: (6, 1).
Shoes: (6, -2).
Shelf: (6, 4).

Let's check "shoppingcart is south, near to shoes".
Cart (6, -1), Shoes (6, -2). Cart is North of shoes. Constraint says "shoppingcart is south, near to shoes".
Wait.
Text: "shoppingcart is south, near to shoes."
Means Cart is South of Shoes.
If Cart is at (6, -1), Shoes must be North, e.g., (6, 0).
Let's re-read Observe output for Room 3.
"shoppingcart: front-right, slightly far". (SE).
"shoes: front-right, slightly far". (SE).
"shoppingcart is south, near to shoes".
So Shoes is North, Cart is South.
Positions relative to door (3, 2):
SE direction.
Shoes at (6, 0). Cart at (6, -2).
Scooter: "front-slight-right". ESE. (6, 1) or (7, 2).
Shelf: "front-slight-left". ENE. (6, 4).

Coordinates to output:
Agent: [3, 2], facing: east.
Room 1:
television: [3, -1], facing south.
teddybear: [1, 2], facing east.
bike: [1, 4], facing east.
vase: [-1, 2].
green door: [3, 2].
yellow door: [-3, 0].

Room 2:
chair: [-5, 0], facing south.
desklamp: [-6, 2], facing west.
plant: [-6, 1].
basket: [-5, 3].

Room 3:
shoppingcart: [6, -2], facing south.
scooter: [6, 1], facing east.
shoes: [6, 0], facing east.
shelf: [6, 4].

Check constraints/consistencies.
"teddybear is south, near to bike".
Bear (1, 2), Bike (1, 4). Bear is South of Bike. Correct.
"desklamp is south, near to plant".
Lamp (-6, 2), Plant (-6, 1). Lamp is North of Plant.
Constraint says "desklamp is south, near to plant".
So Lamp is South of Plant.
Swap them.
Plant at (-6, 2), Lamp at (-6, 1).
Let's check observation "desklamp: front-right" from chair (-5,0) facing West.
Front-Right is NW. (-6, 1) is NW relative to (-5,0). Yes (dx=-1, dy=1).
Plant at (-6, 2) is also NW.
So Plant (-6, 2), Lamp (-6, 1).

"shoppingcart is east, near to scooter".
Cart (6, -2). Scooter (6, 1).
Cart is East of Scooter? No, same x.
If Cart is East, maybe Cart (7, 1), Scooter (6, 1).
Let's check "shoppingcart is south, near to shoes".
Cart (7, 1), Shoes (7, 2)?
And Cart (SE) vs Scooter (ESE).
If Door is (3, 2).
Scooter (6, 1) -> dx=3, dy=-1. Angle atan(1/3) = 18 deg right. "front-slight-right".
Cart (7, 1) -> dx=4, dy=-1. Angle 14 deg.
Wait. Cart is "front-right" (22.5 - 45 deg).
So Cart must be more South.
Say Cart (6, -1) -> dx=3, dy=-3. Angle 45 deg. "front-right".
Scooter (6, 1) -> dx=3, dy=-1. Angle 18 deg. "front-slight-right".
Shoes (6, 0) -> dx=3, dy=-2. Angle 33 deg. "front-right".
Relations:
"shoppingcart is east, near to scooter".
Cart (6, -1), Scooter (6, 1). Not East.
Maybe Scooter (5, -1)?
If Scooter (5, -1) and Cart (6, -1). Cart is East of Scooter.
"shoppingcart is south, near to shoes".
Shoes (6, 0) and Cart (6, -1). Cart is South of Shoes.
This fits both.
Check observation angles from (3, 2) facing East:
Scooter (5, -1): dx=2, dy=-3. Angle atan(3/2) = 56 deg. Too far right (South-East). "front-slight-right" is 0-22.5.
So Scooter needs to be closer to y=2.
Let's move everything up.
Door (3, 2).
Scooter at (6, 2). dx=3, dy=0. Angle 0. "front".
Scooter at (6, 1.5). "front-slight-right".
Cart at (7, 1.5). East of Scooter.
Cart "front-right"? dx=4, dy=-0.5. Angle small.
Let's try:
Scooter (5, 2). Cart (7, 2).
Cart is East.
Cart needs to be South of Shoes. Shoes (7, 3).
Cart "front-right" from (3, 2)? (7, 2) is straight East. No.
This implies y coordinates are different.
Let's assume "shoppingcart is east, near to scooter" means Cart is roughly East.
And "shoppingcart is south, near to shoes" means Cart is roughly South.
Let's put Shoes (6, 0).
Cart (6, -1). (South of shoes).
Scooter (5, -1). (West of Cart -> Cart is East of Scooter).
Check angles from (3, 2):
Shoes (6, 0): dx=3, dy=-2. Angle ~34 deg Right. "front-right". (Correct).
Cart (6, -1): dx=3, dy=-3. Angle 45 deg Right. "front-right". (Correct).
Scooter (5, -1): dx=2, dy=-3. Angle ~56 deg Right. "front-right" or "south-east".
Observed: "scooter: front-slight-right".
So Scooter must be closer to East axis (y=2).
Maybe Scooter (6, 1)? dx=3, dy=-1. Angle 18 deg. "front-slight-right". (Correct).
Then Cart must be East of Scooter?
Cart is at (..., y < 1) to be South of Shoes.
If Cart is at (7, 0) and Shoes (7, 1).
Cart is South of Shoes.
Is Cart East of Scooter (6, 1)?
(7, 0) is East-South of (6, 1). It satisfies "East" loosely? Or strictly?
"Proximity: relations between close objects... Use cardinal directions".
Usually implies relative grid alignment.
If Cart is East of Scooter, y_cart ~ y_scooter, x_cart > x_scooter.
If Cart is South of Shoes, x_cart ~ x_shoes, y_cart < y_shoes.
So Cart is at (x, y). Scooter at (x-d, y). Shoes at (x, y+d).
Scooter (6, 0). Cart (7, 0). Shoes (7, 1).
Check observations from (3, 2):
Scooter (6, 0): dx=3, dy=-2. Angle 33 deg. "front-right".
Observed: "scooter: front-slight-right". (Needs angle < 22.5).
So Scooter y must be > 0.8 (if x=6).
Let's try y=1.
Scooter (6, 1). Angle 18 deg. Good.
Cart (7, 1). East of Scooter. Good.
Shoes (7, 2). North of Cart (Cart is South). Good.
Check observations for Cart and Shoes from (3, 2):
Cart (7, 1): dx=4, dy=-1. Angle 14 deg. "front-slight-right".
Observed: "shoppingcart: front-right". (Needs angle > 22.5).
Conflict.
Cart needs lower y or smaller x.
Let's try rotating the cluster.
Agent at (3, 2).
Scooter needs to be ~East. Cart ~SE. Shoes ~SE.
If "Cart is East of Scooter" is the error? Or "South of Shoes"?
Assuming relations are correct.
Maybe Scooter is (5, 3)? (NE). Observed: front-slight-right (SE side).
So Scooter y < 2.
Maybe Scooter (5, 1). Angle atan(1/2) = 26 deg. "front-right". Close to limit.
Maybe Scooter (6, 1). Angle 18 deg. "front-slight-right".
Cart needs to be "front-right" (>22.5 deg).
Cart (6, 0). Angle 33 deg. "front-right".
Is Cart East of Scooter?
(6, 0) vs (6, 1). No, South.
Maybe Cart (7, 0)?
East of (6, 0)? Yes.
South of Shoes?
Shoes (7, 1).
Cart (7, 0) is South of Shoes (7, 1) and East of Scooter (6, 0)?
Yes.
Let's check observation of Scooter (6, 0).
Angle 33 deg. "front-right".
Observed: "scooter: front-slight-right".
We need Scooter to be "front-slight-right".
Maybe Scooter (7, 1)?
dx=4, dy=-1. Angle 14 deg. "front-slight-right".
Cart East of Scooter? Cart (8, 1).
Cart "front-right"? (8, 1) is 11 deg. No.
Cart South of Shoes? Shoes (8, 2).
Cart needs to be more South to be "front-right".
This implies the "East" relation might be "East-ish" or my door position is different.
What if Door is at (3, 3)?
Scooter (6, 2). dx=3, dy=-1. Angle 18 deg. "front-slight-right".
Cart (7, 1). East of Scooter? (7,1) vs (6,2). dx=1, dy=-1. SE.
Strictly East means y is same.
If Proximity is loose, maybe.
Let's stick to the observations primarily.
Scooter: front-slight-right.
Cart: front-right.
Shoes: front-right.
Shelf: front-slight-left.

Map:
Agent (3, 3) Facing East.
Shelf (6, 5) (ENE).
Scooter (6, 2) (ESE).
Shoes (6, 1) (SE).
Cart (6, 0) (SE).
Relations:
Cart (6, 0) South of Shoes (6, 1). Yes.
Cart (6, 0) East of Scooter? (6, 0) vs (6, 2). No, South.
Maybe "Cart is East, near to Scooter" is wrong?
Text: "shoppingcart is east, near to scooter".
Maybe Cart (7, 2), Scooter (6, 2)?
Cart (7, 2) from (3, 3). dx=4, dy=-1. Angle 14 deg. "front-slight-right".
Observed: "front-right".
Conflict.
Maybe Door is (3, 4)?
Scooter (6, 3). dx=3, dy=-1. Angle 18 deg.
Cart (6, 1). dx=3, dy=-3. Angle 45 deg.
Cart is South of Scooter.
Error in my interpretation or standard grid looseness.
Let's provide a consistent map based on observations.
I will place objects to match "front-right" etc.
Door (3, 3).
Scooter (7, 2). (Angle 14 deg - front-slight-right).
Cart (6, 0). (Angle 45 deg - front-right).
Shoes (6, 1). (Angle 33 deg - front-right).
Cart South of Shoes. Yes.
Cart East of Scooter? (6, 0) vs (7, 2). No, West-South.
I will prioritize the coordinates fitting the "front-right" bins.
Maybe Scooter (6, 2), Cart (7, 1), Shoes (7, 2).
Scooter (6, 2) -> (3, -1) relative. Angle 18. FSR.
Cart (7, 1) -> (4, -2) relative. Angle 26. FR.
Shoes (7, 2) -> (4, -1) relative. Angle 14. FSR.
Observed Shoes: FR.
So Shoes needs more angle.
Shoes (7, 1) -> FR. Cart (7, 0) -> FR.
Cart South of Shoes. Yes.
Cart East of Scooter?
Scooter (6, 1)?
Scooter (6, 1) -> (3, -2). Angle 33. FR.
Observed Scooter: FSR.
So Scooter needs higher y.
Scooter (6, 2).
Cart (7, 0) is East of Scooter (6, 2)? No.
I'll output best guess.

Final Map:
Agent: (3, 3), East.
Room 1:
green door (3, 3). yellow door (-3, 0).
tv (3, -1). teddy (1, 2). bike (1, 4). vase (-1, 2).
Room 2:
chair (-5, 0). lamp (-6, 1). plant (-6, 2). basket (-5, 3).
Room 3:
scooter (6, 2). cart (6, 0). shoes (6, 1). shelf (6, 5).

Facing directions:
tv: south.
teddy: east.
bike: east.
chair: south.
lamp: west.
cart: south.
scooter: east.
shoes: east.

FINAL ANSWER:
```json
{
"agent": {"position": [3, 3], "facing": "east"},
"television": {"position": [3, -1], "facing": "south"},
"teddybear": {"position": [1, 2], "facing": "east"},
"bike": {"position": [1, 4], "facing": "east"},
"vase": {"position": [-1, 2]},
"green door": {"position": [3, 3]},
"yellow door": {"position": [-3, 0]},
"chair": {"position": [-5, 0], "facing": "south"},
"desklamp": {"position": [-6, 1], "facing": "west"},
"plant": {"position": [-6, 2]},
"basket": {"position": [-5, 3]},
"shoppingcart": {"position": [6, 0], "facing": "south"},
"scooter": {"position": [6, 2], "facing": "east"},
"shoes": {"position": [6, 1], "facing": "east"},
"shelf": {"position": [6, 5]}
}
```

THINK:
The agent has explored Room 1, Room 2, and entered Room 3.
Current position: At the "green door" (East wall of Room 1 / West wall of Room 3).
Facing: East.

Let's reconstruct the coordinates.
Initial position: (0,0) facing North in Room 1.
Initial Observations (from (0,0) facing N):
- teddybe...

{
  "agent": {
    "position": [
      3,
      3
    ],
    "facing": "east"
  },
  "television": {
    "position": [
      3,
      -1
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -1,
      2
    ]
  },
  "green door": {
    "position": [
      3,
      3
    ]
  },
  "yellow door": {
    "position": [
      -3,
      0
    ]
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "desklamp": {
    "position": [
      -6,
      1
    ],
    "facing": "west"
  },
  "plant": {
    "position": [
      -6,
      2
    ]
  },
  "basket": {
    "position": [
      -5,
      3
    ]
  },
  "shoppingcart": {
    "position": [
      6,
      0
    ],
    "facing": "south"
  },
  "scooter": {
    "position": [
      6,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      6,
      1
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      6,
      5
    ]
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  }
}

THINK:
The agent is at the green door, facing East (into Room 3).
The observations are relative to this East-facing orientation.
In the *local* frame:
- Origin: Agent (at green door).
- +y: Forward (East in global).
- +x: Right (South in global).
- -x: Left (North in global).
- -y: Backward (West in global).

Observations:
1. **shoppingcart**: "front-right, slightly far, facing right".
- "front-right": Positive y, Positive x.
- "slightly far": Distance ~4-8 units.
- "facing right": Relative to agent. If agent faces East, agent's right is South. Object facing "right" means facing South.
- In local frame (+y is agent's front): Object is at roughly (+x, +y).
- Facing: "right" relative to agent means +x direction locally.
- Wait, usually "facing right" in the description `Observe` output means relative to the *agent's view*. If I look forward and see an object "facing right", it is facing my right. My right is +x. So object faces +x.
- Let's estimate coordinates. "Slightly far" (4-8). "Front-right" means angle ~45 deg. So x ≈ y. Let's say x=4, y=4.

2. **scooter**: "front-slight-right, mid distance, facing forward".
- "front-slight-right": Angle (0, 22.5]. Mostly +y, small +x.
- "mid distance": 2-4 units.
- "facing forward": Faces same direction as agent (East). In local frame: +y.
- Coordinates: y > x. Say x=1, y=3.

3. **shoes**: "front-right, slightly far, facing forward".
- "front-right": Angle (22.5, 45].
- "slightly far": 4-8.
- "facing forward": +y locally.
- Coordinates: x ≈ y. Say x=5, y=5.

4. **shelf**: "front-slight-left, slightly far".
- "front-slight-left": Angle [-22.5, 0). +y, small -x.
- "slightly far": 4-8.
- Coordinates: y large, x small negative. Say x=-2, y=6.
- No facing info given? Wait, "shelf" usually has facing. The prompt didn't specify. I will omit facing if not given.

Relationships:
- "shoppingcart is east, near to scooter".
- In global map (East is agent's front): "East of scooter" means further in +y (local)?
- Wait. "north" in relationship hint is agent's current facing (East).
- So "east" relative to "north" (agent's front) is to the "right" (agent's right).
- So Shoppingcart is to the right (+x) of Scooter.
- My coords: Scooter (1, 3), Shoppingcart (4, 4). Yes, 4 > 1. Correct.
- "shoppingcart is south, near to shoes".
- "South" relative to "north" (agent's front) is "backward" (agent's back)?
- Wait. The prompt says: "Assume your current facing direction is called 'north'".
- So "North" = Local +y.
- "East" = Local +x.
- "South" = Local -y.
- "West" = Local -x.
- Relation: "shoppingcart is south, near to shoes".
- Means Shoppingcart has smaller y (local) than Shoes.
- My coords: Shoppingcart (4, 4), Shoes (5, 5). 4 < 5. Correct.

Constructing JSON:
- shoppingcart: pos [4, 4], facing "+x" (facing right).
- scooter: pos [1, 3], facing "+y" (facing forward).
- shoes: pos [5, 5], facing "+y" (facing forward).
- shelf: pos [-2, 6] (facing unknown).

Coordinates are rough estimates based on distance bins.
Mid distance: 3. Slightly far: 6.
Scooter (mid): [1, 3].
Shoppingcart (slightly far, front-right): [4, 4].
Shoes (slightly far, front-right): [5, 5] (slightly further/right than cart?).
Shelf (slightly far, front-slight-left): [-2, 6].

Check "facing right" for shoppingcart. Agent faces +y. Right is +x. Object faces +x.
Check "facing forward" for scooter/shoes. Agent faces +y. Object faces +y.

FINAL ANSWER:
{
"origin": "agent",
"objects": {
"shoppingcart": {"position": [4, 4], "facing": "+x"},
"scooter": {"position": [1, 3], "facing": "+y"},
"shoes": {"position": [5, 5], "facing": "+y"},
"shelf": {"position": [-2, 6]}
}
}

THINK:
The agent is at the green door, facing East (into Room 3).
The observations are relative to this East-facing orientation.
In the *local* frame:
- Origin: Agent (at green door).
- +y: Forward (East in global).
- +x: Right (South in global).
- -x: Left (North in global).
- -y: Backward (West in...

{
  "origin": "agent",
  "objects": {
    "shoppingcart": {
      "position": [
        4,
        4
      ],
      "facing": "+x"
    },
    "scooter": {
      "position": [
        1,
        3
      ],
      "facing": "+y"
    },
    "shoes": {
      "position": [
        5,
        5
      ],
      "facing": "+y"
    },
    "shelf": {
      "position": [
        -2,
        6
      ]
    }
  }
}

{
  "shoes": {
    "position": [
      3,
      5
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      -1,
      5
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      1,
      3
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      3,
      3
    ],
    "facing": "south"
  }
}

{
  "origin": "agent",
  "objects": {
    "shoppingcart": {
      "position": [
        4,
        4
      ],
      "facing": "+x"
    },
    "scooter": {
      "position": [
        1,
        3
      ],
      "facing": "+y"
    },
    "shoes": {
      "position": [
        5,
        5
      ],
      "facing": "+y"
    },
    "shelf": {
      "position": [
        -2,
        6
      ]
    }
  }
}

{
  "shoes": {
    "position": [
      3,
      5
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      -1,
      5
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      1,
      3
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      3,
      3
    ],
    "facing": "south"
  }
}

THINK:
The agent is currently at the green door, which is on the East wall of Room 1, connecting to Room 3.
The coordinate system is defined with the initial position (0,0) in Room 1.
Let's reconstruct the map layout based on observations.

**Room 1 (Center/Left):**
- Initial position (0,0). Agent faced North.
- Observations from (0,0):
- North: Teddybear, Bike, Vase (front-left).
- East: Television, Green Door (front-left relative to East face? Wait. At (0,0) facing East, green door was "front-left" relative to East? No. Let's re-read.)
- Re-reading turn 2: "green door: front-left, slightly far, on front wall." (Facing East). Wait, if facing East, "front" is East. "Front-left" is NE. "On front wall" usually means the wall the agent is facing. So the door is on the East wall, likely somewhat North of the agent's y=0 line.
- West: Yellow Door (front relative to West face). So Yellow Door is on West wall, at y ~ 0.

**Room 2 (Left):**
- Accessed via Yellow Door (West of Room 1).
- Objects: Chair (near door), Desklamp, Plant, Basket.
- No other doors.

**Room 3 (Right):**
- Accessed via Green Door (East of Room 1).
- Agent is currently at Green Door, facing East into Room 3.
- Observations:
- Shoppingcart: front-right (SE).
- Scooter: front-slight-right (East-SE).
- Shoes: front-right (SE).
- Shelf: front-slight-left (East-NE).
- FOV is 90 degrees (East). Covers NE to SE.

**Map Analysis:**
The ASCII map shows:
- Left room (Room 2).
- Middle room (Room 1).
- Right room (Room 3).
- Agent (`*`) is at the doorway between Room 1 and Room 3.
- Room 3 contains points A, B, C, D, E, F.

Let's evaluate the candidate points in Room 3 based on the current observation (Facing East).
Agent is at `*`. Facing East (Right).
FOV: ±45 degrees from East. Cone covers North-East to South-East.
The map shows `*` on the boundary.
Points:
- C: Up (North) and Right (East). Likely in FOV (front-left/front-slight-left).
- B: Down (South) and Right (East). Likely in FOV (front-right).
- E: Further Down/Right.
- D: Down (South) and slightly Right.
- F: Further Down/Right.
- A: Far South.

Agent Observations:
- "Shelf: front-slight-left" -> Corresponds to area North-East (Point C?).
- "Scooter: front-slight-right" -> Area East-SE.
- "Shoppingcart: front-right" -> Area SE.
- "Shoes: front-right" -> Area SE.

The agent sees "front-slight-left" (NE), "front-slight-right" (ESE), "front-right" (SE).
FOV is 90 degrees. Facing East (Right).
Visible cone: NE to SE.
Point C is NE. Likely observed (Shelf location?).
Points B, D, E, F are SE. Likely observed (Scooter, Shoppingcart, Shoes locations?).
Point A is far South. Is it in the FOV?
Let's look at the geometry.
If `*` is at (x, y).
Facing East (1, 0).
FOV covers angles -45 to +45.
Slope lines: y = x (NE) and y = -x (SE).
In the map:
`*` is roughly in the middle vertically of the door/wall.
C is North-East. Inside the cone? Looks like it.
B is South-East. Inside the cone? Looks like it.
E is South-East. Inside the cone? Looks like it.
D is South-East. Inside the cone? Looks like it.
F is South-East. Inside the cone? Looks like it.
A is further South.
Look at the map grid visually.
`*` is at row 4 (from bottom 0-indexed? No, let's count).
Bottom wall is row 0.
A is at row 1.
D, F are at row 2.
B, E are at row 3.
`*` is at row 4? Or 5?
The wall with the door seems to be x=constant.
Let's count '.' characters.
Room 3 width ~ 6 chars?
Let's look at the vertical alignment.
`*` is above D/B.
If `*` faces East, the line of sight extends to the right.
The cone boundaries:
Upper bound: Diagonal up-right.
Lower bound: Diagonal down-right.
From `*`, C is 1 up, 2 right? (Slope 0.5). Inside slope 1. Visible.
From `*`, B is 1 down, 1 right? (Slope -1). On boundary. Visible.
From `*`, E is 1 down, 3 right? (Slope -0.33). Inside. Visible.
From `*`, D is 2 down, 1 right? (Slope -2). Outside slope -1. NOT Visible.
From `*`, F is 2 down, 2 right? (Slope -1). On boundary. Visible/Maybe.
From `*`, A is 3 down, 2 right? (Slope -1.5). Outside slope -1. NOT Visible.

Let's re-evaluate "Slope".
Facing East (0 degrees).
FOV is +45 (NE) to -45 (SE).
Slope dy/dx between -1 and 1.
Agent at (x0, y0). Target (x, y).
Condition: |y - y0| <= |x - x0| (since x > x0).

Let's estimate coordinates from the map image.
Let bottom-left of map be (0,0).
Map height ~ 9. Map width ~ 22.
Room 3 starts around x=15?
`*` is at the door. Let's say `*` is at (15, 5).
C is at (19, 6). dx=4, dy=1. |1| <= 4. Visible.
B is at (16, 4)? No, B is right next to wall?
Let's count grid cells.
`*` column seems to be the wall column. Let's call it x=0 for Room 3 relative.
`*` row. Let's call it y=0.
C: x=3, y=1?
B: x=1, y=-1?
E: x=4, y=-1?
D: x=1, y=-2?
F: x=3, y=-2?
A: x=2, y=-3?

Calculations:
C: (3, 1) -> |1| <= 3. Visible.
B: (1, -1) -> |-1| <= 1. Visible (boundary).
E: (4, -1) -> |-1| <= 4. Visible.
D: (1, -2) -> |-2| > 1. Not visible (too steep).
F: (3, -2) -> |-2| <= 3. Visible.
A: (2, -3) -> |-3| > 2. Not visible.

Wait, is `*` really at that height?
In the ASCII:
Row with `*`: `#......#......*......#`
Row below: `#......#......#......#` (Wait, this is empty space?)
No, the map is:
Row 8: `######################`
Row 7: `#......###############`
Row 6: `#......#......#.C....#`
Row 5: `#......#......*......#` <- Agent here
Row 4: `#......#......#......#`
Row 3: `#......#......#B..E..#`
Row 2: `#......+......#D.F...#`
Row 1: `########......#.A....#`
Row 0: `######################`

Grid coordinates (col, row):
`*` is at roughly (15, 5).
C: (17, 6). dx=2, dy=1. |1| <= 2. Visible.
B: (16, 3). dx=1, dy=-2. |-2| > 1. NOT Visible.
E: (19, 3). dx=4, dy=-2. |-2| <= 4. Visible.
D: (16, 2). dx=1, dy=-3. |-3| > 1. NOT Visible.
F: (18, 2). dx=3, dy=-3. |-3| <= 3. Visible (boundary).
A: (17, 1). dx=2, dy=-4. |-4| > 2. NOT Visible.

So, B, D, A are definitely outside the 45-degree cone (steeper than 1:1).
F is on the boundary (slope -1). "Visible" usually includes boundary, but "unexplored" means we are looking for things we haven't seen.
Wait, if B is at (16,3) relative to (15,5), the vector is (1, -2). Angle is atan(-2/1) ~= -63 degrees.
FOV is ±45. So -63 is outside. B is unobserved.
D is (1, -3). Angle -71. Outside. Unobserved.
A is (2, -4). Angle -63. Outside. Unobserved.

What about the objects observed?
"shoppingcart: front-right, slightly far". "shoes: front-right".
"front-right" usually means the bin (22.5°, 45°].
Or just the quadrant? The instructions say:
"Egocentric angle bins ... (22.5°,45°]→front-right".
So objects are in the 22.5 to 45 degree slice.
Since B, D, A are at angles > 45 degrees (steeper), they are in the "beyond-fov" (specifically "right" or "back-right" but FOV cuts off).
So B, D, A are unobserved.

What about F? Vector (3, -3). Angle -45.
This is exactly on the boundary of "front-right" (22.5 to 45) and "beyond-fov"?
Actually, the bins are:
[-45, -22.5) front-left
[-22.5, 0) front-slight-left
...
(22.5, 45] front-right
So -45 is inside front-left? No, positive is clockwise.
Facing East (0).
Right is South (+90). Left is North (-90).
Wait, instructions:
"Bearing ... +: clockwise, -: counterclockwise."
"0° is front."
"[-45°,-22.5°)→front-left" (Negative is CCW, i.e., North).
"(22.5°,45°]→front-right" (Positive is CW, i.e., South).

Okay, let's re-check the points with CW/CCW.
Agent at (15,5). Facing East (0).
North is Left (-). South is Right (+).
C at (17,6). Vector (2, 1) (Right 2, Up 1). Up is North (Left).
Angle is negative. atan(1/2) ~ 26 deg. Direction is -26.
Bin: [-45, -22.5). "front-left".
Wait, C is in -26 deg. This fits "front-left" or "front-slight-left"?
[-45, -22.5) is front-left. -26 is in here.
So C is visible.

B at (16,3). Vector (1, -2) (Right 1, Down 2). Down is South (Right).
Angle is positive. atan(2/1) ~ 63 deg.
Bin > 45. "beyond-fov".
B is NOT visible.

E at (19,3). Vector (4, -2). Angle atan(2/4) ~ 26 deg.
Bin (22.5, 45]. "front-right".
E is visible.

D at (16,2). Vector (1, -3). Angle ~ 71 deg.
Not visible.

F at (18,2). Vector (3, -3). Angle 45 deg.
Bin (22.5, 45]. "front-right".
Visible (barely).

A at (17,1). Vector (2, -4). Angle ~ 63 deg.
Not visible.

So Unexplored: A, B, D.
Are there any others?
Let's check the empty space in North-East?
Row 6 has C.
Row 7 is empty in Room 3? `#......###############`. Room 3 is blocked?
Ah, look at the map walls.
Row 6: `#......#......#.C....#`
Row 7: `#......###############`
So Room 3 top wall is Row 7?
Agent at Row 5.
Area North of C (Row 6) is wall.
Area South of Agent?
Rows 4, 3, 2, 1 are in Room 3.
Agent sees C (Row 6).
Agent sees E (Row 3, far right).
Agent sees F (Row 2, far right).
Agent does NOT see B (Row 3, close).
Agent does NOT see D (Row 2, close).
Agent does NOT see A (Row 1).

Wait, B is (16,3). Agent (15,5).
If the wall is at x=14/15.
B is very close to the wall "behind" the FOV cone.
So B is definitely unobserved.
D is unobserved.
A is unobserved.

What about C? It is at (17,6). Agent (15,5).
Vector (2,1). Visible.

Conclusion: A, B, D are unobserved.
Let's check F again. Angle 45.
If the FOV is strictly < 45? "FOV is 90°". Usually inclusive?
Instructions: "(22.5°,45°]→front-right". Square bracket means inclusive.
So F is visible.

Final check on Map Legend:
A, B, C, D, E, F are candidates.
Selected: A, B, D.

One distinct possibility:
The agent is at the door. "When located in a doorway... you can see into both connected rooms".
Does this widen the FOV? "door is open and invisible, you can see into both connected rooms".
Does it imply 360 vision? No, "within FOV" is mentioned in the rules ("You can see objects from both connected rooms (within FOV)").
So FOV constraint applies.
So the 90-degree cone applies.
Therefore, the points B, D, A are outside the cone.

Wait, is B visible?
Coordinates: Agent (15, 5). B (16, 3).
Vector (1, -2).
This is steep. Angle ~63 deg.
Constraint is 45.
So B is hidden.

Is D visible?
(1, -3). Steep. Hidden.

Is A visible?
(2, -4). Steep. Hidden.

Is F visible?
(3, -3). 45 deg. Visible.

Is E visible?
(4, -2). 26 deg. Visible.

Is C visible?
(2, 1). 26 deg. Visible.

Result: A, B, D are unexplored.

Is there any ambiguity about coordinate (0,0)?
"Coordinates: (0, 0) is at the bottom-left".
Agent is `*`.
The relative positions determine the angles.
My relative grid counting seems robust enough.

One more check:
Row 5: Agent.
Row 4: Empty space? `......#......#` No, Room 3 is `......`
Row 4 in Room 3 is empty.
Row 3 has B.
B is 2 rows down.
Lateral distance?
`#......#......*......#` (Row 5)
`#......#......#B..E..#` (Row 3)
The `*` is aligned with the `.` after the wall `#`.
The `B` is aligned with the `.` after the wall `#`.
Wait, let's align the strings.
Row 5: `# . . . . . . # . . . . . . * . . . . . . #`
Row 3: `# . . . . . . # . . . . . . # B . . E . . #`
The `*` is at index 14 (if # is 0).
The `B` is at index 14? No.
Let's look at the columns carefully.
Col 0: #
Col 7: # (Wall between R2 and R1)
Col 14: # (Wall between R1 and R3? No, `*` is there?)
Let's assume the columns align.
Row 5: `*` is at the door position.
Row 3: There is a `#` at the wall position. B is to the right of it.
If `*` is at the door, and the door is on the wall.
The wall is at column X.
`*` is at column X.
B is at column X+1?
Let's count characters in Row 3 segment `...#B..E..#`.
The `#` is the wall.
B is immediately right of `#`.
So B is at X+1.
Agent `*` is at X.
So dx = 1.
dy = 5 - 3 = 2.
Vector (1, -2). Angle 63.4 deg.
Limit is 45.
So B is Not Visible.

Row 2: `...#D.F...#`
D is immediately right of `#`?
`#D` -> yes.
So D is at X+1.
dy = 5 - 2 = 3.
Vector (1, -3). Angle 71.5 deg.
Not Visible.

Row 1: `...#.A....#`
A is right of `.` which is right of `#`.
`#` at X. `.` at X+1. A at X+2.
So A is at X+2.
dy = 5 - 1 = 4.
Vector (2, -4). Angle 63.4 deg.
Not Visible.

So A, B, D are confirmed Unexplored.

F is at Row 2. `D` is at X+1. `.` at X+2. `F` at X+3.
F is at X+3.
dy = 3.
Vector (3, -3). Angle 45. Visible.

C is at Row 6.
Segment `...#.C....#`
`#` at X. `.` at X+1. `C` at X+2.
C is at X+2.
dy = 6 - 5 = 1 (Up).
Vector (2, 1). Angle 26.5 deg. Visible.

E is at Row 3.
Segment `...#B..E..#`
`B` at X+1. `.` at X+2. `.` at X+3. `E` at X+4.
E is at X+4.
dy = 2 (Down).
Vector (4, -2). Angle 26.5 deg. Visible.

So, Unexplored set: A, B, D.

Wait, is there any occlusion?
"Walls block vision".
The wall between R1 and R3 is at column X.
B is at X+1.
Agent is at X.
Line of sight from (X, 5) to (X+1, 3).
Does it pass through the wall segment at (X, 4)?
The wall is `#` in Row 4?
Row 4: `#......#......#......#`
Yes, there is a `#` at column X in Row 4.
So the wall exists at Row 4, Col X.
Agent is at Row 5, Col X (Door).
Target B is at Row 3, Col X+1.
Line of sight crosses Row 4.
At Row 4, the y-coordinate is 4.
x = x0 + (y - y0) * dx/dy
x = X + (4 - 5) * (1 / -2) = X + (-1) * -0.5 = X + 0.5.
So at y=4, x is X + 0.5.
Is there a wall at (X, 4)? Yes, the `#`.
Is the wall a point or a cell?
"Every object including you is a point at integer (x, y) coordinates."
"Doors block vision between rooms."
"Rooms connect via doors on ... walls."
If there is a wall at (X, 4), it blocks the line of sight if the LOS passes through it.
Technically (X, 4) is a wall point.
The ray passes through x=X+0.5.
Does (X,4) block (X+0.5, 4)?
Usually in grid worlds, walls fill the cell.
If the wall is at X, it likely spans X-0.5 to X+0.5 or similar?
Or maybe ray tracing rules apply.
But more simply, B is outside the 45 degree FOV anyway.
So occlusion doesn't matter for B. B is already invisible due to angle.

Same for D and A.
So A, B, D are definitely not seen.

Final Answer seems to be A, B, D.

Double check "Unexplored".
If I haven't seen them, they are unexplored.
Are there any other points?
C, E, F are visible.
So the answer is A, B, D.

One edge case: "Door is open and invisible...".
Agent is at (X, 5).
If B was at (X+10, 5) (straight ahead), it would be visible.
The angle constraint is the main filter here.

Is there any chance the agent is facing differently?
"Assume your current facing direction is called 'north'" in the text?
No, that's for the report.
The prompt says: "Agent's current Position" is `*`.
The previous action was "JumpTo(green door)".
Orientation matches the jump if not rotated?
"JumpTo(OBJ): ... Your orientation does NOT change."
Before jump, agent was at yellow door facing East.
So agent is facing East.
Correct.

So A, B, D are the ones.

FINAL ANSWER:
{
"unexplored": ["A", "B", "D"]
}

THINK:
The agent is currently at the green door, which is on the East wall of Room 1, connecting to Room 3.
The coordinate system is defined with the initial position (0,0) in Room 1.
Let's reconstruct the map layout based on observations.

**Room 1 (Center/Left):**
- Initial position (0,0). Agent f...

######################
#......###############
#......#......#.C....#
#......#......*......#
#......#......#......#
#......#......#B..E..#
#......+......#D.F...#
########......#.A....#
######################

You jumped to green door. You observe:
• shoppingcart: front-right, slightly far, facing right
• scooter: front-slight-right, mid distance, facing forward
• shoes: front-right, slightly far, facing forward
• shelf: front-slight-left, slightly far
Assume your current facing direction is called "north":
• shoppingcart is east, near to scooter
• shoppingcart is south, near to shoes.
You have a maximum of 8 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You jumped to green door. You observe:
• shoppingcart: front-right, slightly far, facing right
• scooter: front-slight-right, mid distance, facing forward
• shoes: front-right, slightly far, facing forward
• shelf: front-slight-left, slightly far
Assume your current facing direction is called "nort...

Agent is at the green door, facing East, looking into Room 3.
Observations in Room 3:
- shoppingcart: front-right (SE).
- scooter: front-slight-right (East-SE).
- shoes: front-right (SE).
- shelf: front-slight-left (East-NE).
The view covers East. The objects seem distributed to the right (SE) and slight left (NE).
To fully map Room 3, the agent should explore the room.
Similar to Room 2, the agent should enter the room to see corners potentially hidden from the doorway or to confirm no other doors exist.
The "scooter" is "mid distance" and central enough. Jumping to it would place the agent inside Room 3.
Current orientation: East.
JumpTo(scooter). Orientation remains East.
Then Observe().

Agent is at the green door, facing East, looking into Room 3.
Observations in Room 3:
- shoppingcart: front-right (SE).
- scooter: front-slight-right (East-SE).
- shoes: front-right (SE).
- shelf: front-slight-left (East-NE).
The view covers East. The objects seem distributed to the right (SE) and s...

THINK:
The user wants the final cognitive map in JSON format.
I need to reconstruct the positions of all observed objects based on the navigation history.

**Coordinate System Reconstruction:**
- Origin (0,0) is initial position in Room 1.
- Initial Facing: North (+y).
- Directions: North (+y), East (+x), South (-y), West (-x).

**Step 1: Room 1 (Initial)**
- Agent at (0,0), Facing North.
- Observed:
- `teddybear`: front-right (NE), mid distance (~3m). Facing right (East). Est pos: (2, 2).
- `bike`: front-slight-right (NNE), slightly far (~5m). Facing right. Est pos: (2, 5) or (1, 5). Relation: "teddybear is south, near to bike". If teddy is (2,2), bike at (2,4) or (2,5) makes sense.
- `vase`: front-left (NW), mid distance (~3m). Est pos: (-2, 2).
- Rotate 90 -> Facing East.
- Observed:
- `television`: front (East), mid distance (~3m). Facing right (South). Est pos: (3, 0).
- `green door`: front-left (NE), slightly far (~5m), on front wall. "On front wall" relative to East means on the East wall. So x is positive. Maybe (5, 2) or (5, 3).
- Rotate 90 -> Facing South. Empty.
- Rotate 90 -> Facing West.
- Observed:
- `vase` again: front-right (NW). Consistent with (-2, 2).
- `yellow door`: front (West), mid distance (~3m), on front wall (West wall). Est pos: (-3, 0).

**Step 2: Room 2**
- JumpTo `yellow door` at (-3, 0). Facing West.
- Observed:
- `chair`: front (West), near (~1-2m). Facing left (South). Est pos: (-4, 0) or (-5, 0).
- `desklamp`: front-right (NW), slightly far (~5m). Facing forward (West). Est pos: (-6, 2) or (-5, 3).
- `plant`: front-slight-right (WNW), slightly far. Relation: "desklamp is south, near to plant". So plant is North of desklamp.
- JumpTo `chair`. Let's assume chair is at (-5, 0).
- Observed from `chair` (Facing West):
- `desklamp`: front-right (NW), mid distance. Consistent.
- `plant`: front-right.
- Rotate 90 -> Facing North (at chair).
- Observed:
- `desklamp`: front-left (NW). Consistent.
- `basket`: front (North), mid distance. Est pos: (-5, 3).
- Rotate 90 -> Facing East (at chair).
- Observed: `yellow door` at (-3, 0). Front, near. Distance 2m. So chair at (-5, 0) works well.

**Step 3: Back to Room 1 & Room 3**
- JumpTo `yellow door` (-3, 0).
- Rotate -90 -> Facing East.
- JumpTo `green door`. Previous estimate (5, 2) or similar.
- From yellow door (-3, 0) facing East, `green door` is "front-left" (NE), "slightly far". Distance from (-3,0) to e.g. (5,0) is 8m (far/slightly far border). If it's front-left, maybe y > 0. Let's guess `green door` is at (5, 0) or (5, 2). The `television` was at (3, 0) facing right (South). The green door was "front-left" from (0,0) facing East (so NE). Let's put `green door` at (5, 2).
- JumpTo `green door` (5, 2). Facing East.
- Observed in Room 3:
- `shoppingcart`: front-right (SE), slightly far. Facing right (South).
- `scooter`: front-slight-right (ESE), mid distance. Facing forward (East).
- `shoes`: front-right (SE), slightly far. Facing forward (East).
- `shelf`: front-slight-left (ENE), slightly far.
- JumpTo `scooter`. Facing East.
- Observed from `scooter`:
- `shoes`: front-right (SE), mid distance. Facing forward.
- `shelf`: front-left (NE), mid distance.

**Refining Coordinates:**
- Room 1:
- Agent starts (0,0).
- `television`: East, mid (3m). (3, 0).
- `vase`: NW, mid. (-2, 2).
- `teddybear`: NE, mid. (2, 2).
- `bike`: NE, slightly far. (2, 5). "teddybear south, near bike" -> Bike (2, 4).
- `green door`: East wall. From (0,0) facing E, it's Front-Left (NE). So y > 0. Let's say (4, 2).
- `yellow door`: West wall. From (0,0) facing W, it's Front (W). (-3, 0).

- Room 2:
- `yellow door` at (-3, 0).
- `chair`: West of door, near (2m). (-5, 0). Facing South.
- `basket`: North of chair (-5, 0), mid (3m). (-5, 3).
- `desklamp`: NW of chair (-5, 0), mid (3m). (-7, 2). Facing West.
- `plant`: North of desklamp. (-7, 4).

- Room 3:
- `green door` at (4, 2). Facing East.
- `scooter`: ESE of door, mid (3m). Let's say (7, 1). Facing East.
- `shelf`: ENE of door, slightly far. From scooter (7, 1) facing E, it's Front-Left (NE). (8, 3).
- `shoppingcart`: SE of door, slightly far. From scooter (7, 1) facing E, it's ?? Not seen from scooter? No, not reported in last observe. Wait, "shoes" and "shelf" were seen. Shoppingcart was seen from door.
- `shoes`: SE of door. From scooter (7, 1) facing E, it's Front-Right (SE). (8, -1). Facing East.
- `shoppingcart`: "south, near to shoes". Shoes at (8, -1). Cart at (8, -3) or (7, -2). Relation: "shoppingcart is east, near to scooter". Scooter (7, 1). Cart (9, 1)? No, "shoppingcart is south near shoes". Let's re-read relations.
- Relations at door: "shoppingcart is east, near to scooter". "shoppingcart is south, near to shoes".
- Wait, this implies ShoppingCart is East of Scooter AND South of Shoes.
- Scooter at (7, 1). ShoppingCart at (9, 1)?
- Shoes at (9, 3)? Then Cart is South of Shoes.
- Let's adjust.
- Door (4, 2).
- Scooter: Front-Slight-Right (ESE). (7, 1).
- ShoppingCart: Front-Right (SE). (7, -1). Facing South.
- Shoes: Front-Right (SE). (8, 0). Facing East.
- Relation: "shoppingcart is east, near to scooter" -> Cart x > Scooter x. Cart y ~ Scooter y. (9, 1)?
- Relation: "shoppingcart is south, near to shoes" -> Cart y < Shoes y. Cart x ~ Shoes x.
- Let's try: Scooter (7, 1). Cart (9, 1). Shoes (9, 3).
- Does this fit observations?
- From Door (4, 2) facing E:
- Scooter (7, 1): dx=3, dy=-1. Angle -18 deg. Front-Slight-Right. Dist ~3.2 (Mid). OK.
- Cart (9, 1): dx=5, dy=-1. Angle -11. Front-Slight-Right. Dist ~5 (Slightly Far). Report said "Front-Right". Maybe (8, -1)?
- Shoes (9, 3): dx=5, dy=1. Angle +11. Front-Slight-Right. Report said "Front-Right".
- Let's try: Scooter (7, 2). (Pure East). Report: "front-slight-right". So y < 2. Let's keep (7, 1).
- Let's reconsider relations. "shoppingcart is east, near to scooter". "shoppingcart is south, near to shoes".
- Scooter (6, 2). Cart (8, 2). Shoes (8, 4).
- From Door (4, 2):
- Scooter (6, 2): Front. Dist 2.
- Cart (8, 2): Front. Dist 4.
- Shoes (8, 4): Front-Left.
- This contradicts "Front-Right".
- To be Front-Right (SE) from door, y must be < 2.
- Let's put everything y < 2.
- Scooter (6, 1). Cart (8, 1). Shoes (8, 3)? No, shoes must be north of cart.
- If Cart is South of Shoes, Shoes is North of Cart.
- If Cart (8, 0), Shoes (8, 2).
- From Door (4, 2):
- Shoes (8, 2): Front.
- Cart (8, 0): Front-Right.
- Scooter (6, 1): Front-Right.
- Fits better.
- Observations from Scooter (6, 1) facing East:
- Shoes (8, 2): Front-Left. Report said "Front-Right".
- Contradiction.
- Let's trust the "From Scooter" observation: Shoes is Front-Right.
- From Scooter (x, y) facing E -> Shoes is SE. (x+, y-).
- So Shoes y < Scooter y.
- But "shoppingcart is south, near to shoes" -> Cart y < Shoes y.
- And "shoppingcart is east, near to scooter" -> Cart x > Scooter x.
- So: Scooter y > Shoes y > Cart y.
- And Cart x > Scooter x.
- Let's try: Scooter (6, 1). Shoes (8, 0). Cart (8, -2).
- Check Door (4, 2) view:
- Scooter (6, 1): Front-Right. OK.
- Shoes (8, 0): Front-Right. OK.
- Cart (8, -2): Front-Right. OK.
- Shelf: Front-Slight-Left. Say (6, 4).
- Check Scooter (6, 1) view facing East:
- Shoes (8, 0): Front-Right (SE). OK.
- Shelf (6, 4): Front-Left (NE). OK.
- This layout works.
- Coordinates:
- Green Door (4, 2).
- Scooter (6, 1). Facing East (Forward).
- Shoes (8, 0). Facing East (Forward).
- Cart (8, -2). Facing Right (South).
- Shelf (6, 4).

**Final Object List:**
Agent: At `scooter` (6, 1), Facing East.
1. `teddybear`: (2, 2), facing East.
2. `bike`: (2, 4), facing East.
3. `vase`: (-2, 2).
4. `television`: (3, 0), facing South.
5. `green door`: (4, 2).
6. `yellow door`: (-3, 0).
7. `chair`: (-5, 0), facing South.
8. `desklamp`: (-7, 2), facing West.
9. `plant`: (-7, 4).
10. `basket`: (-5, 3).
11. `shoppingcart`: (8, -2), facing South.
12. `scooter`: (6, 1), facing East.
13. `shoes`: (8, 0), facing East.
14. `shelf`: (6, 4).

Wait, earlier I said "bike is north of teddybear" based on "teddybear is south, near to bike".
Teddy (2, 2). Bike (2, 4). Correct.

One check on "vase". Observed Front-Left from North facing -> NW. (-2, 2). Observed Front-Right from West facing -> NW. Correct.

One check on "desklamp".
From Chair (-5, 0) facing W: Front-Right -> NW. (-7, 2) is NW. OK.
From Chair (-5, 0) facing N: Front-Left -> NW. (-7, 2) is NW. OK.

One check on "basket".
From Chair (-5, 0) facing N: Front -> N. (-5, 3). OK.

One check on "shelf".
From Green Door (4, 2) facing E: Front-Slight-Left -> NE. (6, 4) is NE. OK.
From Scooter (6, 1) facing E: Front-Left -> NE. (6, 4) is N/NE. OK.

One check on "shoes".
From Door (4, 2): Front-Right -> SE. (8, 0) is SE. OK.
From Scooter (6, 1): Front-Right -> SE. (8, 0) is SE. OK.

One check on "shoppingcart".
Relation: East of Scooter (6, 1) -> x > 6.
Relation: South of Shoes (8, 0) -> y < 0.
Pos (8, -2).
Observation from door: Front-Right -> SE. (8, -2) is SE. OK.

Seems consistent.

Final JSON Construction.
Agent at (6, 1), facing East.

FINAL ANSWER:
```json
{
"agent": {"position": [6, 1], "facing": "east"},
"teddybear": {"position": [2, 2], "facing": "east"},
"bike": {"position": [2, 4], "facing": "east"},
"vase": {"position": [-2, 2]},
"television": {"position": [3, 0], "facing": "south"},
"green door": {"position": [4, 2]},
"yellow door": {"position": [-3, 0]},
"chair": {"position": [-5, 0], "facing": "south"},
"desklamp": {"position": [-7, 2], "facing": "west"},
"plant": {"position": [-7, 4]},
"basket": {"position": [-5, 3]},
"shoppingcart": {"position": [8, -2], "facing": "south"},
"scooter": {"position": [6, 1], "facing": "east"},
"shoes": {"position": [8, 0], "facing": "east"},
"shelf": {"position": [6, 4]}
}
```

THINK:
The user wants the final cognitive map in JSON format.
I need to reconstruct the positions of all observed objects based on the navigation history.

**Coordinate System Reconstruction:**
- Origin (0,0) is initial position in Room 1.
- Initial Facing: North (+y).
- Directions: North (+y), East...

{
  "agent": {
    "position": [
      6,
      1
    ],
    "facing": "east"
  },
  "teddybear": {
    "position": [
      2,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      2,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ]
  },
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "green door": {
    "position": [
      4,
      2
    ]
  },
  "yellow door": {
    "position": [
      -3,
      0
    ]
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "plant": {
    "position": [
      -7,
      4
    ]
  },
  "basket": {
    "position": [
      -5,
      3
    ]
  },
  "shoppingcart": {
    "position": [
      8,
      -2
    ],
    "facing": "south"
  },
  "scooter": {
    "position": [
      6,
      1
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      8,
      0
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      6,
      4
    ]
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  }
}

{
  "television": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoppingcart": {
    "position": [
      7,
      0
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      -5,
      0
    ],
    "facing": "south"
  },
  "teddybear": {
    "position": [
      1,
      2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  },
  "desklamp": {
    "position": [
      -7,
      2
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      1,
      4
    ],
    "facing": "east"
  },
  "vase": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "shoes": {
    "position": [
      9,
      0
    ],
    "facing": "east"
  },
  "plant": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      9,
      4
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      4
    ],
    "facing": "east"
  },
  "yellow door": {
    "position": [
      -3,
      0
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      4,
      3
    ],
    "facing": "east"
  },
  "agent": {
    "position": [
      7,
      2
    ],
    "facing": "east"
  }
}

THINK:
The agent is at the scooter in Room 3, facing East.
Observations:
- shoes: front-right, mid distance.
- shelf: front-left, mid distance.

Local Frame:
Origin: agent (at scooter).
+y: East (Agent's facing direction).
+x: South (Right of East).
-x: North (Left of East).
-y: West (Behind).

Distances:
"mid distance" corresponds to the bin (2, 4]. Let's estimate as 3 units.
"front-right": Angle is (22.5, 45]. Vector roughly (x, y) = (2, 2) or (1, 3).
Let's use a standard approximation for "front-right" (approx 45 deg): x = +2, y = +2 (dist ~2.8) or x=+2, y=+3.
"front-left": Angle is [-45, -22.5). Vector roughly x = -2, y = +2.

Object positions relative to agent (facing +y):
- shoes: front-right. x > 0, y > 0. Let's say [2, 2] or [2, 3]. Distance "mid" (2-4). [2, 2] is sqrt(8)=2.8.
- shelf: front-left. x < 0, y > 0. Let's say [-2, 2]. Distance 2.8.

Object facings:
- shoes: "facing forward". In the observation, "forward" relative to the agent's current view (East). If the object is facing forward (relative to agent), it means it's facing away from the agent? Or does "facing forward" mean facing the same direction as the agent?
Usually, "facing forward" in observations means the object's orientation is aligned with the agent's facing.
The agent faces East (+y). So shoes face East (+y).
- shelf: No facing reported.

Wait, the previous observation from the door said:
"shoes: front-right, slightly far, facing forward"
"scooter: front-slight-right... facing forward"
"shoppingcart: ... facing right"

Current observation from scooter:
"shoes: front-right, mid distance, facing forward".
"shelf: front-left, mid distance".

Okay, map:
Objects: "shoes", "shelf".
Relative coords:
shoes: [2, 2] (approx for front-right mid). Facing: +y.
shelf: [-2, 2] (approx for front-left mid).

FINAL ANSWER:
{
"origin": "agent",
"objects": {
"shoes": {"position": [2, 2], "facing": "+y"},
"shelf": {"position": [-2, 2]}
}
}

THINK:
The agent is at the scooter in Room 3, facing East.
Observations:
- shoes: front-right, mid distance.
- shelf: front-left, mid distance.

Local Frame:
Origin: agent (at scooter).
+y: East (Agent's facing direction).
+x: South (Right of East).
-x: North (Left of East).
-y: West (Behind).

Dist...

{
  "origin": "agent",
  "objects": {
    "shoes": {
      "position": [
        2,
        2
      ],
      "facing": "+y"
    },
    "shelf": {
      "position": [
        -2,
        2
      ]
    }
  }
}

{
  "shoes": {
    "position": [
      2,
      2
    ],
    "facing": "east"
  },
  "shelf": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  }
}

{
  "origin": "agent",
  "objects": {
    "shoes": {
      "position": [
        2,
        2
      ],
      "facing": "+y"
    },
    "shelf": {
      "position": [
        -2,
        2
      ]
    }
  }
}

THINK:
The agent has explored Room 1 (center), Room 2 (left/West), and is currently in Room 3 (right/East).
Layout estimation:
Room 1 is connected to Room 2 (West) via yellow door and Room 3 (East) via green door.
Room 2 was a dead end.
Room 3 is being explored.
Agent is at 'scooter' in Room 3.
The map shows Room 3 on the right.
The agent is marked as '*'.
The candidates A, B, C, D, E, F are in Room 3.
The agent is facing East.
Observations from scooter (facing East):
- shoes: front-right (SE).
- shelf: front-left (NE).
Previous observations from door (facing East):
- shoppingcart (SE), scooter (East-SE), shoes (SE), shelf (NE).
The agent has seen the area to the East (front).
The agent has NOT seen the area behind (West) or directly North/South from the *scooter* position if the FOV is narrow, but the previous view from the door covered the "front" (East) which corresponds to the area *into* the room.
Wait, from the door (left side of Room 3), the agent looked East and saw objects. Now at the scooter (central/mid), looking East.
The area *behind* the agent (West, towards the door) was observed when at the door, but looking East. The area to the immediate North and South of the scooter might be partially seen.
However, usually "unexplored" means areas not covered by the FOV cones of any observation.
Room 3 seems to be the rightmost room.
The agent entered from the West wall of Room 3.
From the door, it saw shelf (NE), scooter (E-SE), shoppingcart (SE), shoes (SE).
From the scooter (facing East), it sees shoes (SE), shelf (NE).
The corners A (South-West?), C (South-West?), D (South?), E (South-East?), B (East?), F (North-East?) need evaluation.
Let's look at the ASCII map provided.
The map shows three rooms.
Left room: empty (explored).
Middle room: empty (explored).
Right room: Room 3.
The agent '*' is in the middle of Room 3.
The door '+' is on the left wall of Room 3.
A, C, D are in the lower-left (SW) part of Room 3.
E is in the lower-right (SE) corner.
B is on the right (East) wall.
F is in the upper-right (NE) area.

The agent entered from the left ('+').
Observations:
1. From '+' facing East: Covered a cone towards East. Seen shelf (NE), scooter (E), shoppingcart (SE), shoes (SE).
- This likely covered the central path and parts of NE/SE.
- B (East wall) might be covered.
- F (NE) might be covered by "shelf" or nearby.
- E (SE) might be covered by "shoes".
- A, C, D are "behind" the scooter or to the South-West. From the door (facing East), the SW corner is often outside the 90-degree FOV (which covers -45 to +45, i.e., NE to SE). The SW corner is "to the right" of the agent but closer to the wall the agent is standing on? No, if agent is at door facing East, SW is to the right (South) and slightly back? No, South is right. SW is right-back.
- 90 degree FOV facing East covers NE to SE.
- Objects in SW (like A, C, D) would be "Right" (South) or "Back-Right" (SW).
- "Right" (South) is at the edge of FOV.
- The map shows A, C, D in the SW quadrant of the room.
- The agent at the door (West wall) facing East *might* miss the corners on the same wall (NW, SW) if the FOV is strictly < 90 or if they are deep in the corner.
- From the scooter (facing East), the agent definitely cannot see A, C, D (which are behind/left-behind).
- F is NE. Shelf is NE. F is likely observed or close to observed.
- B is East. Likely observed.
- E is SE. Shoes are SE. Likely observed.
- A, C, D are the most likely unobserved candidates. They are in the South-West area.
- Also, the map shows 'F' in the upper middle/right.
- Unexplored areas are typically those *behind* the current view or in corners not yet swept.
- The agent has never faced South or West in Room 3.
- So the West wall (back towards door) and South wall might have unobserved spots.
- A, C, D are in the SW.
- F is in NE. The agent saw "shelf" in NE.
- B is East.
- E is SE. Agent saw "shoes" in SE.
- So A, C, D are strong candidates.
- Let's check F again. From door facing East, NE is visible. From scooter facing East, NE is visible. So F is likely observed.
- What about regions blocked by objects? Not simulated here usually.
- I will select A, C, D as the primary unexplored areas (SW corner).

Wait, looking closely at the map:
The door is at (approx) x=12, y=3 in the room coords?
The room is roughly 6x6.
Agent '*' is at x=15, y=4.
Door '+' is at x=12, y=2? No, looking at the # grid.
Door is on the vertical wall between middle and right room.
A and C and D are below the door/agent level.
The agent looked East.
The SW corner (bottom-left of the room) is A, C. D is slightly east of A.
From the door, facing East: The field of view is a cone 45 degrees left and right.
If the room is wide, the corners on the entry wall (SW and NW) are NOT visible.
So A, C (SW corner) are definitely unobserved. D is close to SW.
E (SE corner) should be visible (East-SE).
F (NE area) should be visible (East-NE).
B (East wall) should be visible.
So "unexplored" are likely A, C, D.

FINAL ANSWER:
```json
{
"unexplored": ["A", "C", "D"]
}
```

THINK:
The agent has explored Room 1 (center), Room 2 (left/West), and is currently in Room 3 (right/East).
Layout estimation:
Room 1 is connected to Room 2 (West) via yellow door and Room 3 (East) via green door.
Room 2 was a dead end.
Room 3 is being explored.
Agent is at 'scooter' in Room 3.
The ...

######################
#......###############
#......#......#......#
#......#......+...F..#
#......#......#..*.B.#
#......#......#......#
#......+......#AD....#
########......#C....E#
######################

You jumped to scooter. You observe:
• shoes: front-right, mid distance, facing forward
• shelf: front-left, mid distance.
You have a maximum of 7 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You jumped to scooter. You observe:
• shoes: front-right, mid distance, facing forward
• shelf: front-left, mid distance.
You have a maximum of 7 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]...

Agent is at scooter in Room 3, facing East.
Observations:
- shoes: front-right (SE).
- shelf: front-left (NE).
The agent has seen the East side.
Needs to check North, South, and West (back towards door).
Rotate 90 clockwise to face South.
This will check the "right" side of the room relative to entry.
(Previous observation from door saw shoppingcart in SE, shoes in SE).
Facing South should reveal shoppingcart and shoes more clearly.

Agent is at scooter in Room 3, facing East.
Observations:
- shoes: front-right (SE).
- shelf: front-left (NE).
The agent has seen the East side.
Needs to check North, South, and West (back towards door).
Rotate 90 clockwise to face South.
This will check the "right" side of the room relative to entr...

THINK:
The agent has explored three rooms.
Initial position (0,0) facing North in Room 1.
Objects in Room 1:
- teddybear (North, mid dist ~3m). Let's estimate coordinates. Agent at (0,0). Teddybear front-right (NE) from start? No, first observation was "front-right". Wait, first observation at (0,0) facing North:
- teddybear: front-right, mid.
- bike: front-slight-right, slightly far.
- vase: front-left, mid.
Later, facing East:
- television: front (East), mid.
- green door: front-left (NE), slightly far.
Facing West:
- vase: front-right (NW), mid.
- yellow door: front (West), mid.

Let's refine coordinates based on moves.
Agent started at (0,0).
Facing North.
Observation 1:
- teddybear: front-right (NE). Mid dist (2-4). Say (2, 2).
- bike: front-slight-right (NNE). Slightly far (4-8). Say (2, 5).
- vase: front-left (NW). Mid dist. Say (-2, 2).

Rotation +90 -> Face East.
Observation 2:
- television: front (East). Mid dist. Say (3, 0).
- green door: front-left (NE). Slightly far. On front wall. Say (5, 2) or (5, 3). Since it's on "front wall" relative to East facing, it's on an East wall.
From (0,0), East is +x. So wall is at x=something. "slightly far" implies distance > 4. Let's say x=5. Door at (5, y). Front-left means North-East. So maybe (5, 2).

Rotation +90 -> Face South.
Observation 3: Empty.

Rotation +90 -> Face West.
Observation 4:
- vase: front-right (NW). Consistent with (-2, 2).
- yellow door: front (West). Mid dist (2-4). On front wall (West wall). So wall at x=-3 or -4. Let's say x=-3. Door at (-3, 0).

JumpTo(yellow door). Position (-3, 0). Facing West.
Observation 5 (Room 2):
- chair: front (West). Near (0-2). Say (-4, 0) or (-5, 0). Let's say (-5, 0).
- desklamp: front-right (NW). Slightly far. Say (-6, 2).
- plant: front-slight-right (WNW). Slightly far. Say (-7, 1).

JumpTo(chair). Position (-5, 0). Facing West.
Observation 6:
- desklamp: front-right. Consistent.
- plant: front-right. Consistent.

Rotate +90 -> Face North. Position (-5, 0).
Observation 7:
- desklamp: front-left (NW). Mid dist. Consistent with (-6, 2).
- basket: front (North). Mid dist. Say (-5, 3).

Rotate +90 -> Face East. Position (-5, 0).
Observation 8:
- yellow door: front (East). Near. At (-3, 0). Correct.

Rotate +90 -> Face South. Position (-5, 0).
Observation 9: Empty.

Rotate -90 -> Face East. JumpTo(yellow door). Position (-3, 0). Facing East.
Observation 10 (Room 1):
- television: front (East). Slightly far. At (3, 0). Dist 6. Fits.
- teddybear: front-left (NE). Slightly far. At (2, 2). Dist sqrt(5^2+2^2) = 5.4. Fits.
- bike: front-left (NE). Slightly far. At (2, 5). Dist sqrt(5^2+5^2) = 7. Fits.
- green door: front-left (NE). Slightly far. At (5, 2)? Dist sqrt(8^2+2^2) > 8? No. From (-3,0) to (5,2) is dx=8, dy=2. Dist ~8.2. Maybe too far?
"slightly far" is (4,8].
Maybe green door is closer? Wall at x=4? From (0,0) facing East, "slightly far" to green door (NE). If wall x=4. Dist to (4,2) is sqrt(4^2+2^2)=4.5. Fits.
From (-3,0) to (4,2) is dx=7, dy=2. Dist sqrt(49+4)=7.3. Fits "slightly far".
So green door at (4, 2).

JumpTo(green door). Position (4, 2). Facing East.
Observation 11 (Room 3):
- shoppingcart: front-right (SE). Slightly far.
- scooter: front-slight-right (ESE). Mid dist.
- shoes: front-right (SE). Slightly far.
- shelf: front-slight-left (ENE). Slightly far.

JumpTo(scooter). Position (let's calculate).
From green door (4, 2) facing East. Scooter is "front-slight-right" (ESE), "mid distance" (2-4).
Let's say dx=3, dy=-1. Pos = (7, 1).
Observation 12 (at scooter, facing East):
- shoes: front-right (SE). Mid dist.
- shelf: front-left (NE). Mid dist.
If scooter at (7, 1).
Shelf at (7+d, 1+d)? NE means relative to East is N. No, relative to East facing, front-left is North-East (global).
Wait. Facing East. Front is East. Left is North. Front-Left is NE.
So Shelf is NE of Scooter.
From Door (4,2), Shelf was Front-Slight-Left (ENE).
If Shelf is at (7, 3). From (4,2): dx=3, dy=1. Angle ~18 deg. ENE. Dist 3.16 (Mid/Slightly Far? limit 4).
From Scooter (7,1) to Shelf (7,3): dx=0, dy=2. Direction North.
Observed from Scooter (facing East): "front-left".
Facing East: Front=E, Left=N. Front-Left=NE.
If Shelf is at (8, 3). From Scooter: dx=1, dy=2. NE. Fits.

Rotate +90 -> Face South. Position (7, 1).
Observation 13:
- shoppingcart: front (South). Near.
So shoppingcart at (7, -1) or so.
- shoes: front-left (SE). Mid dist.
From Scooter (7,1), shoes are SE.
From Door (4,2), shoes were SE (front-right).
Let's say Shoes at (9, -1).
From Scooter (7,1) to (9,-1): dx=2, dy=-2. Dist 2.8. SE.
Facing South: Front=S, Left=E. Front-Left=SE. Correct.

Current State:
Agent at scooter (7, 1) facing South.

Objects:
Room 1:
- teddybear (2, 2) Facing Right (East).
- bike (2, 5) Facing Right (East).
- vase (-2, 2).
- television (3, 0) Facing Right (South? No, facing right relative to agent facing East? "television: front... facing right". Agent East. TV faces South).
- green door (4, 2) on East wall.
- yellow door (-3, 0) on West wall.

Room 2:
- chair (-5, 0) Facing Left (South? Agent facing West saw it facing Left. Agent West -> Left is South. So Chair faces South).
- desklamp (-6, 2) Facing Forward (West? Agent facing West saw it facing Forward? No, "facing forward" usually means facing the agent? Or facing same direction?
Instruction: "Orientation: -forward/backward/right/left (ego) ... When agent faces north: forward = north".
"facing right" means the object's 'front' is pointing to the agent's right.
Wait. "facing right" in observation means the object is oriented towards the agent's right.
If I face West, and chair faces "left", then chair faces South.
If desklamp faces "forward", desklamp faces West.
- plant (-7, 1).
- basket (-5, 3).

Room 3:
- scooter (7, 1) Facing Forward (East? Agent at door facing East saw scooter "facing forward". So scooter faces East).
- shoppingcart (7, -1). Facing Forward (South? Agent at scooter facing South saw cart "facing forward". So cart faces South).
- shoes (9, -1). Facing Forward (East? Agent at door facing East saw shoes "facing forward". From scooter facing South saw shoes "facing left" (East). Consistent).
- shelf (8, 3).

Agent is at scooter (7, 1). Facing South.

Final check on coordinates.
Room 1 center ~ (0,0).
Room 2 center ~ (-5, 0).
Room 3 center ~ (7, 1).

JSON construction.
Agent: pos [7, 1], facing "south".
teddybear: [2, 2], facing "east". (Observed facing right when agent faced North -> East).
bike: [2, 5], facing "east". (Observed facing right when agent faced North -> East).
vase: [-2, 2].
television: [3, 0], facing "south". (Observed facing right when agent faced East -> South).
green door: [4, 2].
yellow door: [-3, 0].
chair: [-5, 0], facing "south". (Observed facing left when agent faced West -> South).
desklamp: [-6, 2], facing "west". (Observed facing forward when agent faced West -> West).
plant: [-7, 1].
basket: [-5, 3].
shoppingcart: [7, -1], facing "south". (Observed facing forward when agent faced South -> South).
scooter: [7, 1], facing "east". (Observed facing forward when agent faced East -> East).
shoes: [9, -1], facing "east". (Observed facing forward when agent faced East -> East).
shelf: [8, 3].

Wait, "shoes facing forward" from Green Door (facing East). Means shoes face East.
"shoes facing left" from Scooter (facing South). Left of South is East. Shoes face East. Matches.

"shoppingcart facing right" from Green Door (facing East). Right of East is South.
"shoppingcart facing forward" from Scooter (facing South). Forward of South is South. Matches.

"scooter facing forward" from Green Door (facing East). Faces East.

"desklamp facing forward" from Yellow Door (facing West). Faces West.
"desklamp facing forward" from Chair (facing West). Faces West.
"desklamp facing left" from Chair (facing North). Left of North is West. Matches.

"chair facing left" from Yellow Door (facing West). Left of West is South. Matches.

"television facing right" from Room 1 center (facing East). Right of East is South.

"teddybear facing right" from Room 1 center (facing North). Right of North is East.

"bike facing right" from Room 1 center (facing North). Right of North is East.

Coordinates seem reasonable estimates.

One minor detail: "desklamp is south, near to plant" (from Yellow Door, facing West).
My coords: desklamp (-6, 2), plant (-7, 1).
South of (-6, 2) is (-6, <2). Plant is at y=1.
So plant is South of desklamp? "desklamp is south, near to plant".
This means Desklamp is TO THE SOUTH OF Plant.
My coords: Plant y=1, Desklamp y=2. So Desklamp is NORTH of Plant.
This conflicts with the relationship "desklamp is south, near to plant".
Wait. "Assume your current facing direction is called 'north'".
Agent facing West.
"North" (local) = West (global).
"South" (local) = East (global).
So "desklamp is south of plant" (local) means "desklamp is East of plant" (global).
My coords: Desklamp (-6, 2), Plant (-7, 1).
Desklamp x=-6, Plant x=-7.
-6 is East of -7.
So Desklamp is East of Plant. Matches "south" in local frame (facing West).
Good.

Another check: "shoppingcart is east, near to scooter" (from Green Door, facing East).
Agent facing East. "North" (local) = East (global). "East" (local) = South (global).
So "shoppingcart is South of scooter" (global).
My coords: Cart (7, -1), Scooter (7, 1).
Cart is South of Scooter. Matches.

Another: "teddybear is south, near to bike" (from Start, facing North).
Agent facing North. Local North = Global North. Local South = Global South.
So "teddybear is South of bike".
My coords: Teddy (2, 2), Bike (2, 5).
Teddy is South of Bike. Matches.

All checks pass.

FINAL ANSWER:
{
"agent": {"position": [7, 1], "facing": "south"},
"teddybear": {"position": [2, 2], "facing": "east"},
"bike": {"position": [2, 5], "facing": "east"},
"vase": {"position": [-2, 2]},
"television": {"position": [3, 0], "facing": "south"},
"green door": {"position": [4, 2]},
"yellow door": {"position": [-3, 0]},
"chair": {"position": [-5, 0], "facing": "south"},
"desklamp": {"position": [-6, 2], "facing": "west"},
"plant": {"position": [-7, 1]},
"basket": {"position": [-5, 3]},
"shoppingcart": {"position": [7, -1], "facing": "south"},
"scooter": {"position": [7, 1], "facing": "east"},
"shoes": {"position": [9, -1], "facing": "east"},
"shelf": {"position": [8, 3]}
}