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: truck, 2: televison, 3: bike, 4: chair, 5: airplane, 6: scooter, 7: backpack, 8: shoes, 9: wine, 10: basket, 11: shoppingcart, 12: table
Doors: green door, red 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 goal is to map the environment (3 rooms, 12 objects, 2 doors) with minimum cost. I am currently in Room 1 at (0,0) facing North. My Field of View (FOV) is 90°. I haven't observed anything yet, so I cannot use `JumpTo` (also forbidden in the first step). I need to gather initial information about Room 1, specifically looking for objects and doors. Since I have no prior information to suggest a specific direction, observing from my initial orientation (North) is the most logical starting point to identify visible entities in the northern sector of the room.

The goal is to map the environment (3 rooms, 12 objects, 2 doors) with minimum cost. I am currently in Room 1 at (0,0) facing North. My Field of View (FOV) is 90°. I haven't observed anything yet, so I cannot use `JumpTo` (also forbidden in the first step). I need to gather initial information about...

THINK:
The agent is at position [0, 0] facing North.
1. **Truck**: Observed "front-left" (bearing [-45°, -22.5°)) and "mid distance" (Euclidean distance in (2, 4]).
* Candidate [-1, 2]: Distance $\sqrt{(-1)^2 + 2^2} = \sqrt{5} \approx 2.24$ (fits (2, 4]). Bearing $\text{atan2}(-1, 2) \approx -26.6^\circ$ (fits [-45°, -22.5°)).
* Estimated position: [-1, 2]. Facing: "right" (relative to agent North) -> East.
2. **Red Door**: Observed "front-right" (bearing (22.5°, 45°]) and "slightly far" (Euclidean distance in (4, 8]).
* Candidate [2, 4]: Distance $\sqrt{2^2 + 4^2} = \sqrt{20} \approx 4.47$ (fits (4, 8]). Bearing $\text{atan2}(2, 4) \approx 26.6^\circ$ (fits (22.5°, 45°]).
* Estimated position: [2, 4]. Orientation: On front wall (North wall).

FINAL ANSWER:
```json
{
"agent": {"position": [0, 0], "facing": "north"},
"truck": {"position": [-1, 2], "facing": "east"},
"red door": {"position": [2, 4]}
}
```

THINK:
The agent is at position [0, 0] facing North.
1. **Truck**: Observed "front-left" (bearing [-45°, -22.5°)) and "mid distance" (Euclidean distance in (2, 4]).
* Candidate [-1, 2]: Distance $\sqrt{(-1)^2 + 2^2} = \sqrt{5} \approx 2.24$ (fits (2, 4]). Bearing $\text{atan2}(-1, 2) \approx ...

{
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "north"
  },
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      2,
      4
    ]
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "north"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "north"
  }
}

THINK:
The agent is at the origin (0,0) facing +y (North).
1. **truck**: Observed "front-left" (angle -45° to -22.5°) and "mid distance" (2m to 4m).
* Possible integer coordinates $(x, y)$ that satisfy distance $\in (2, 4]$ and angle $\in [-45^\circ, -22.5^\circ)$:
* $(-1, 2)$: $r=\sqrt{5}\approx 2.24$, $\theta \approx -26.6^\circ$. (Valid)
* $(-1, 3)$: $r=\sqrt{10}\approx 3.16$, $\theta \approx -18.4^\circ$. (Invalid, too center)
* $(-2, 3)$: $r=\sqrt{13}\approx 3.61$, $\theta \approx -33.7^\circ$. (Valid)
* $(-2, 2)$ is exactly -45°, usually boundary cases map to the next bin or specific bin. The bin is [-45, -22.5). So -45 is included. Dist $\approx 2.8$.
* Let's pick **$(-2, 3)$** as a representative position.
* Facing: "facing right". Agent faces +y. Right is +x. So facing is **"+x"**.

2. **red door**: Observed "front-right" (angle 22.5° to 45°) and "slightly far" (4m to 8m).
* Possible coordinates:
* $(2, 4)$: $r \approx 4.47$, $\theta \approx 26.6^\circ$. (Valid)
* $(2, 5)$: $r \approx 5.39$, $\theta \approx 21.8^\circ$. (Invalid, too center)
* $(3, 5)$: $r \approx 5.83$, $\theta \approx 31.0^\circ$. (Valid)
* $(3, 6)$: $r \approx 6.71$, $\theta \approx 26.6^\circ$. (Valid)
* Given "on front wall", it implies a wall perpendicular to the viewing direction, likely at a constant $y$. If the room is roughly rectangular and the truck is at $y=3$, the wall might be further back. Let's assume the door is at **$(3, 5)$**.

FINAL ANSWER:
```json
{
"origin": "agent",
"objects": {
"truck": {"position": [-2, 3], "facing": "+x"},
"red door": {"position": [3, 5]}
}
}
```

THINK:
The agent is at the origin (0,0) facing +y (North).
1. **truck**: Observed "front-left" (angle -45° to -22.5°) and "mid distance" (2m to 4m).
* Possible integer coordinates $(x, y)$ that satisfy distance $\in (2, 4]$ and angle $\in [-45^\circ, -22.5^\circ)$:
* $(-1, 2)$: $r=\sqrt...

{
  "origin": "agent",
  "objects": {
    "truck": {
      "position": [
        -2,
        3
      ],
      "facing": "+x"
    },
    "red door": {
      "position": [
        3,
        5
      ]
    }
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  }
}

{
  "origin": "agent",
  "objects": {
    "truck": {
      "position": [
        -2,
        3
      ],
      "facing": "+x"
    },
    "red door": {
      "position": [
        3,
        5
      ]
    }
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  }
}

THINK: [The agent is at `*` facing North. The FOV is 90° centered on North (±45°).
Based on the ASCII map:
- Candidate `D` is located at relative coordinates (-2, 1) (Left 2, Up 1). The angle is approx 63° to the left, which is outside the 45° left boundary of the FOV. Thus, D is unobserved.
- Candidates `A` (South-West), `B` (West), and `C` (South-East) are behind or to the side of the agent, well outside the North-facing FOV.
- Candidates `E` and `F` are located in the room to the North. The agent observes a "red door" on the front wall, but since the agent is not yet *in* the doorway, the contents of the next room (E and F) are occluded by the wall/door.
Therefore, all candidates A, B, C, D, E, F are in unobserved regions.]
FINAL ANSWER: {
"unexplored": ["A", "B", "C", "D", "E", "F"]
}

THINK: [The agent is at `*` facing North. The FOV is 90° centered on North (±45°).
Based on the ASCII map:
- Candidate `D` is located at relative coordinates (-2, 1) (Left 2, Up 1). The angle is approx 63° to the left, which is outside the 45° left boundary of the FOV. Thus, D is unobserved.
- Candi...

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

You observe:
• truck: front-left, mid distance, facing right
• red door: front-right, slightly far, on front wall.
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:
• truck: front-left, mid distance, facing right
• red door: front-right, slightly far, on front wall.
You have a maximum of 19 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]...

I have explored the northern sector of Room 1. I need to explore the remaining sectors (East, South, West) to fully map Room 1 before moving to Room 2. Since I am currently at (0,0) facing North, rotating 90 degrees clockwise will allow me to observe the eastern sector.

I have explored the northern sector of Room 1. I need to explore the remaining sectors (East, South, West) to fully map Room 1 before moving to Room 2. Since I am currently at (0,0) facing North, rotating 90 degrees clockwise will allow me to observe the eastern sector....

THINK:
The agent started at (0,0) facing North.
Observation 1 (facing North):
- Truck: front-left (-45 to -22.5 deg), mid distance (2-4). Estimated pos: x between -1.5 and -3, y between 2 and 3. Let's guess (-2, 3). Truck facing: Right (East).
- Red Door: front-right (22.5 to 45 deg), slightly far (4-8). Estimated pos: x between 2 and 5, y between 3 and 7. Let's guess (3, 5).

Observation 2 (facing East):
- Backpack: front (-22.5 to 22.5 deg relative to East), mid distance (2-4). Estimated pos: x approx 3, y approx 0. Let's guess (3, 0). Backpack facing: Right (South).
- Shoes: front-right (22.5 to 45 deg relative to East), slightly far (4-8). Relative to East, front-right is South-East. Estimated pos: x approx 4, y approx -3. Let's guess (4, -3). Shoes facing: Left (North).
- Red Door: front-left relative to East. Consistent with previous observation.

Current Agent State: Position (0,0), Facing East.

FINAL ANSWER:
```json
{
"agent": {"position": [0, 0], "facing": "east"},
"truck": {"position": [-2, 3], "facing": "east"},
"red door": {"position": [3, 5]},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [4, -3], "facing": "north"}
}
```

THINK:
The agent started at (0,0) facing North.
Observation 1 (facing North):
- Truck: front-left (-45 to -22.5 deg), mid distance (2-4). Estimated pos: x between -1.5 and -3, y between 2 and 3. Let's guess (-2, 3). Truck facing: Right (East).
- Red Door: front-right (22.5 to 45 deg), slightly far (...

{
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "east"
  },
  "truck": {
    "position": [
      -2,
      3
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      3,
      5
    ]
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -3
    ],
    "facing": "north"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "east"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "east"
  }
}

THINK:
The agent is currently facing East. The field of view includes the backpack, shoes, and red door.
1. **Backpack**: "Front" implies it is along the local +y axis (East). "Mid distance" (2-4m) suggests a y-value around 3. Local position: [0, 3]. "Facing right" (relative to the agent facing East) means it faces South. In the local frame (+y=East, +x=South), South is +x. Facing: "+x".
2. **Shoes**: "Front-right" implies the first quadrant in the local frame (+x, +y). "Slightly far" (4-8m) suggests a distance around 5-6m. Let's estimate local coordinates [3, 4]. "Facing left" (relative to agent) means facing North. In local frame, North is -x. Facing: "-x".
3. **Red door**: "Front-left" implies the second quadrant in the local frame (-x, +y). "Slightly far" suggests distance around 5-6m. Previous observation placed it Front-Right when facing North, confirming it's in the North-East global quadrant. In local East-facing frame, this is Front-Left. Local coordinates estimate: [-3, 4]. "On left wall" implies it's on the North wall. A door on the North wall typically faces South (into the room) or North (out). Assuming it faces into the room (South), which is +x in the local frame. Facing: "+x".

FINAL ANSWER:
```json
{
"origin": "agent",
"objects": {
"backpack": {"position": [0, 3], "facing": "+x"},
"shoes": {"position": [3, 4], "facing": "-x"},
"red door": {"position": [-3, 4], "facing": "+x"}
}
}
```

THINK:
The agent is currently facing East. The field of view includes the backpack, shoes, and red door.
1. **Backpack**: "Front" implies it is along the local +y axis (East). "Mid distance" (2-4m) suggests a y-value around 3. Local position: [0, 3]. "Facing right" (relative to the agent facing Eas...

{
  "origin": "agent",
  "objects": {
    "backpack": {
      "position": [
        0,
        3
      ],
      "facing": "+x"
    },
    "shoes": {
      "position": [
        3,
        4
      ],
      "facing": "-x"
    },
    "red door": {
      "position": [
        -3,
        4
      ],
      "facing": "+x"
    }
  }
}

{
  "shoes": {
    "position": [
      2,
      4
    ],
    "facing": "north"
  },
  "backpack": {
    "position": [
      0,
      3
    ],
    "facing": "south"
  },
  "red door": {
    "position": [
      -4,
      4
    ],
    "facing": "north"
  }
}

{
  "origin": "agent",
  "objects": {
    "backpack": {
      "position": [
        0,
        3
      ],
      "facing": "+x"
    },
    "shoes": {
      "position": [
        3,
        4
      ],
      "facing": "-x"
    },
    "red door": {
      "position": [
        -3,
        4
      ],
      "facing": "+x"
    }
  }
}

{
  "shoes": {
    "position": [
      2,
      4
    ],
    "facing": "north"
  },
  "backpack": {
    "position": [
      0,
      3
    ],
    "facing": "south"
  }
}

THINK: [The agent is at (0,0) facing East. It has observed North (saw truck, red door) and East (saw backpack, shoes, red door).
The FOV is 90 degrees.
- Facing North covers [-45, 45] degrees (NW to NE).
- Facing East covers [45, 135] degrees (NE to SE).
Combined coverage: [-45, 135] degrees (NW, N, NE, E, SE).
Unobserved sectors: [135, 315] degrees, which corresponds to South-East (partially), South, South-West, West, and North-West (partially).
Looking at the map candidates relative to the agent (*):
- B is North/North-East (Observed).
- E is North-West (Observed, saw truck).
- C is South-East (Observed, saw shoes).
- D is South (Unobserved).
- A is South-West (Unobserved).
- F is West (Unobserved).
Therefore, the unexplored points are A, D, and F.]
FINAL ANSWER: {
"unexplored": ["A", "D", "F"]
}

THINK: [The agent is at (0,0) facing East. It has observed North (saw truck, red door) and East (saw backpack, shoes, red door).
The FOV is 90 degrees.
- Facing North covers [-45, 45] degrees (NW to NE).
- Facing East covers [45, 135] degrees (NE to SE).
Combined coverage: [-45, 135] degrees (NW, N,...

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

You rotated clockwise 90°. You observe:
• backpack: front, mid distance, facing right
• shoes: front-right, slightly far, facing left
• red door: front-left, slightly far, on left 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:
• backpack: front, mid distance, facing right
• shoes: front-right, slightly far, facing left
• red door: front-left, slightly far, on left wall.
You have a maximum of 18 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step ...

I have mapped the North and East sectors of Room 1. I have found the "red door" (north wall) and two objects: backpack (east) and shoes (east-south). I still need to check the South and West sectors. Rotating 90 degrees clockwise again will face me South.

Current State:
Position: (0,0)
Heading: East (90 degrees relative to initial North)
Observations so far:
- North: truck, red door
- East: backpack, shoes

Plan: Rotate 90 degrees to face South. Observe.

I have mapped the North and East sectors of Room 1. I have found the "red door" (north wall) and two objects: backpack (east) and shoes (east-south). I still need to check the South and West sectors. Rotating 90 degrees clockwise again will face me South.

Current State:
Position: (0,0)
Heading: Eas...

THINK:
Based on the observations:
1. **Agent**: Currently at `[0, 0]`, facing `south` (after two 90-degree clockwise rotations).
2. **Truck**: Observed facing North at "front-left" (NW), mid distance. Estimated `[-2, 3]`. Facing `east`.
3. **Red Door**: Observed facing North at "front-right" (NE) and facing East at "front-left" (NE). Slightly far. Estimated `[2, 6]`.
4. **Backpack**: Observed facing East at "front" (E), mid distance. Estimated `[3, 0]`. Facing `south`.
5. **Shoes**: Observed facing East at "front-right" (SE), slightly far. Estimated `[4, -4]`. Facing `north`.
6. **Chair**: Observed facing South at "front-left" (SE), mid distance. Estimated `[2, -2]`. Facing `north`.

FINAL ANSWER:
```json
{
"agent": {"position": [0, 0], "facing": "south"},
"truck": {"position": [-2, 3], "facing": "east"},
"red door": {"position": [2, 6]},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [4, -4], "facing": "north"},
"chair": {"position": [2, -2], "facing": "north"}
}
```

THINK:
Based on the observations:
1. **Agent**: Currently at `[0, 0]`, facing `south` (after two 90-degree clockwise rotations).
2. **Truck**: Observed facing North at "front-left" (NW), mid distance. Estimated `[-2, 3]`. Facing `east`.
3. **Red Door**: Observed facing North at "front-right" (NE)...

{
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "south"
  },
  "truck": {
    "position": [
      -2,
      3
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      2,
      6
    ]
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -4
    ],
    "facing": "north"
  },
  "chair": {
    "position": [
      2,
      -2
    ],
    "facing": "north"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "south"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "south"
  }
}

THINK:
The agent is facing South. The observation "chair: front-left, mid distance, facing backward" translates to the local frame where +y is Forward (South). "Front-left" implies a position with positive y and negative x. "Mid distance" (2-4m) suggests coordinates like (-2, 3) or (-1, 3). "Facing backward" means the chair is facing North, which corresponds to the -y direction in the local frame.

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

THINK:
The agent is facing South. The observation "chair: front-left, mid distance, facing backward" translates to the local frame where +y is Forward (South). "Front-left" implies a position with positive y and negative x. "Mid distance" (2-4m) suggests coordinates like (-2, 3) or (-1, 3). "Facing ...

{
  "origin": "agent",
  "objects": {
    "chair": {
      "position": [
        -2,
        3
      ],
      "facing": "-y"
    }
  }
}

{
  "chair": {
    "position": [
      -1,
      2
    ],
    "facing": "north"
  }
}

{
  "origin": "agent",
  "objects": {
    "chair": {
      "position": [
        -2,
        3
      ],
      "facing": "-y"
    }
  }
}

{
  "chair": {
    "position": [
      -1,
      2
    ],
    "facing": "north"
  }
}

THINK:
The agent is currently at the position marked `*`. The map indicates that North is Up.
1. **Analyze Agent History:**
* Step 1: `Observe()` while facing **North**. This covered the cone towards the top of the map.
* Step 2: `Rotate(90)` to face **East**, then `Observe()`. This covered the cone towards the right.
* Step 3: `Rotate(90)` to face **South**, then `Observe()`. This covered the cone towards the bottom.
* The agent has **not** looked **West** yet.

2. **Analyze Candidates:**
* **Candidate A:** Located to the North of the agent `*`. Since the agent observed North in Step 1, the region containing A has been scanned. A is in an observed region.
* **Candidate B:** Located to the West (left) of the agent `*`. The agent has not rotated to face West or observed that direction. Therefore, the region containing B is unobserved.

3. **Conclusion:** Only B is in an unexplored region.

FINAL ANSWER:
```json
{
"unexplored": ["B"]
}
```

THINK:
The agent is currently at the position marked `*`. The map indicates that North is Up.
1. **Analyze Agent History:**
* Step 1: `Observe()` while facing **North**. This covered the cone towards the top of the map.
* Step 2: `Rotate(90)` to face **East**, then `Observe()`. This cov...

################
#########......#
#########......#
#########......#
#########......#
#########......#
#########......#
#############+##
#......#......##
#......#..A...##
#......#......##
#......#B*....##
#......+......##
#......#......##
################

You rotated clockwise 90°. You observe:
• chair: front-left, mid distance, facing backward.
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:
• chair: front-left, mid distance, facing backward.
You have a maximum of 17 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]...

I have mapped North, East, and South sectors of Room 1.
Objects found:
- North: truck, red door
- East: backpack, shoes
- South: chair

I still need to check the West sector.
Current Heading: South (180 degrees relative to initial North).
Plan: Rotate 90 degrees clockwise to face West. Observe.

I have mapped North, East, and South sectors of Room 1.
Objects found:
- North: truck, red door
- East: backpack, shoes
- South: chair

I still need to check the West sector.
Current Heading: South (180 degrees relative to initial North).
Plan: Rotate 90 degrees clockwise to face West. Observe....

THINK:
Based on the observations:
1. **North View**: 'truck' is front-left (North-West) at mid distance (approx [-2, 3]). 'red door' is front-right (North-East) at slightly far distance (approx [1, 5]).
2. **East View**: 'backpack' is front (East) at mid distance (approx [3, 0]). 'shoes' is front-right (South-East) at slightly far distance (approx [4, -3]).
3. **South View**: 'chair' is front-left (South-East) at mid distance (approx [2, -3]).
4. **West View**: 'green door' is front-left (South-West) at mid distance (approx [-2, -3]).

Current Agent Position: [0, 0]
Current Agent Facing: West

FINAL ANSWER:
```json
{
"agent": {"position": [0, 0], "facing": "west"},
"truck": {"position": [-2, 3], "facing": "east"},
"red door": {"position": [1, 5]},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [4, -3], "facing": "north"},
"chair": {"position": [2, -3], "facing": "north"},
"green door": {"position": [-2, -3]}
}
```

THINK:
Based on the observations:
1. **North View**: 'truck' is front-left (North-West) at mid distance (approx [-2, 3]). 'red door' is front-right (North-East) at slightly far distance (approx [1, 5]).
2. **East View**: 'backpack' is front (East) at mid distance (approx [3, 0]). 'shoes' is front-...

{
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "west"
  },
  "truck": {
    "position": [
      -2,
      3
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      1,
      5
    ]
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -3
    ],
    "facing": "north"
  },
  "chair": {
    "position": [
      2,
      -3
    ],
    "facing": "north"
  },
  "green door": {
    "position": [
      -2,
      -3
    ]
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "west"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      0,
      0
    ],
    "facing": "west"
  }
}

THINK: [The agent is facing West. The green door is observed front-left at mid distance. Front-left corresponds to a local angle between -22.5 and -45 degrees. Mid distance is between 2 and 4. A local position of [-2, 3] corresponds to a distance of 3.6 and an angle of -33.7 degrees, which fits the description well.]
FINAL ANSWER: {"origin": "agent", "objects": {"green door": {"position": [-2, 3]}}}

THINK: [The agent is facing West. The green door is observed front-left at mid distance. Front-left corresponds to a local angle between -22.5 and -45 degrees. Mid distance is between 2 and 4. A local position of [-2, 3] corresponds to a distance of 3.6 and an angle of -33.7 degrees, which fits the ...

{
  "origin": "agent",
  "objects": {
    "green door": {
      "position": [
        -2,
        3
      ]
    }
  }
}

{
  "green door": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  }
}

{
  "origin": "agent",
  "objects": {
    "green door": {
      "position": [
        -2,
        3
      ]
    }
  }
}

{
  "green door": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  }
}

You rotated clockwise 90°. You observe:
• green door: front-left, 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:
• green door: front-left, 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: [ ... ]...

I have scanned all four cardinal directions in Room 1.
- North: truck, red door
- East: backpack, shoes
- South: chair
- West: green door

I have identified two doors leading out of Room 1. I will now proceed to explore the connected rooms. I am currently facing West. The green door is in my current FOV (front-left). I will jump to the green door. Being at the door allows me to see into both Room 1 and the room connected via the green door. Since I am facing West and the door is likely on the West boundary, facing West should allow me to look into the new room.

I have scanned all four cardinal directions in Room 1.
- North: truck, red door
- East: backpack, shoes
- South: chair
- West: green door

I have identified two doors leading out of Room 1. I will now proceed to explore the connected rooms. I am currently facing West. The green door is in my current...

THINK:
I need to update the cognitive map based on the observations.
Initial Position: (0,0) facing North.
My current position is at the green door. The green door was observed from (0,0) facing West (270° from initial North) at "front-left, mid distance".
"Mid distance" is (2,4]. Let's approximate it as 3 units.
Front-left when facing West corresponds to South-West in global coordinates.
Facing West vector: (-1, 0).
Front-left is approx 45 degrees left of West, which is South-West.
Let's look at the "on front wall" part. Facing West, the front wall is the West wall. The door is "front-left".
Usually, if I am at (0,0) and look West, front-left is roughly South-West.
Let's refine the coordinates.
Agent at (0,0).
Step 1: Face North. Truck front-left (NW), Red Door front-right (NE), on front wall (North wall). Distance slightly far (4-8, say 6).
Step 2: Face East. Backpack front (E), Shoes front-right (SE).
Step 3: Face South. Chair front-left (SE).
Step 4: Face West. Green Door front-left (SW), mid distance (2-4, say 3). On front wall (West wall?). Wait, if it's on the front wall relative to facing West, it's a West wall. But it's front-left. That implies it's on the wall to my left? No, "on front wall" usually implies the wall I'm facing. "Front-left" is the bearing.
If I am facing West, front is West. Front-left is South-West. If the door is on the "front wall" (West wall), it implies x < 0.
Let's estimate coordinates.
Green Door: Observed from (0,0) facing West. Bearing front-left (-45 to -22.5 relative to West, i.e., South-West). Distance ~3. Position roughly (-2, -2) or (-3, -1). Let's assume (-3, -2) for now.
Since I jumped to the green door, my position is now the green door's position. My orientation has not changed (still facing West).
From the Green Door (facing West), I observe:
- scooter: front-right, slightly far. (West + Right = North-West).
- basket: front-slight-right, mid distance. (West + Slight Right = West-North-West).
- table: front-slight-left, mid distance. (West + Slight Left = West-South-West).
Proximate relations: Basket is East of Table (global frame? No, relative to current facing "north").
The instructions say: "Assume your current facing direction is called 'north'".
My current facing is West. So "North" in this local frame is global West.
"basket is east, near to table":
Local East is global South.
Local North is global West.
So Basket is global South of Table? Wait.
Standard mapping:
Local North = Global West.
Local East = Global North.
Local South = Global East.
Local West = Global South.
Relation: "basket is east, near to table".
This means in the local frame (where 'north' is my facing direction West), basket is to the 'east' (right) of table.
Right of West is North.
So Basket is Global North of Table.
Let's check the observations:
Basket: front-slight-right (Global West-North).
Table: front-slight-left (Global West-South).
Basket is indeed more North than the Table. This matches.

Let's assign coordinates.
Agent Start: (0,0).
Red Door: Front-right of North. NE. (2, 5)?
Green Door: Front-left of West. SW. (-3, -2)? Let's fix Green door at (-3, 0) for simplicity? No, bearing was front-left. So y must be negative. (-3, -2).
Agent is now at (-3, -2). Facing West.
Scooter: front-right (NW). Slightly far (4-8). Local (4, 4)? Global (-3-4, -2+4) = (-7, 2).
Basket: front-slight-right (WNW). Mid (3). Local (1, 3)? Global (-3-3, -2+1) = (-6, -1).
Table: front-slight-left (WSW). Mid (3). Local (-1, 3)? Global (-3-3, -2-1) = (-6, -3).
Proximity: Basket is North of Table (Global). (-1 vs -3). Correct.

Truck: From (0,0) facing N, front-left (NW). (-2, 3)?
Backpack: From (0,0) facing E, front (E). (3, 0)?
Shoes: From (0,0) facing E, front-right (SE). (2, -2)?
Chair: From (0,0) facing S, front-left (SE). (2, -2)? Same area as shoes? Maybe.
Red door: From (0,0) facing N, front-right (NE). (2, 5)?

Let's formalize the JSON.
Agent: (-3, -2), facing West.
Objects:
- Truck: (-2, 3) facing Right (East).
- Backpack: (3, 0) facing Right (South).
- Shoes: (3, -3) facing Left (North).
- Chair: (2, -3) facing Backward (North).
- Scooter: (-7, 2) facing Backward (East).
- Basket: (-6, -1).
- Table: (-6, -3).
- Green Door: (-3, -2).
- Red Door: (2, 5).

Wait, "backpack facing right". When observed, I was facing East. Right of East is South.
"shoes facing left". Facing East. Left of East is North.
"chair facing backward". Facing South. Backward of South is North.
"scooter facing backward". Facing West. Backward of West is East.
"truck facing right". Facing North. Right of North is East.

Let's refine positions.
Green door was front-left of West (SW). (-3, -2).
Observation from Green Door (facing West):
Table: front-slight-left (WSW). x < -3, y < -2.
Basket: front-slight-right (WNW). x < -3, y > -2.
Scooter: front-right (NW). x < -3, y >> -2.

The JSON map requires integer coordinates. I will make a best estimate.

FINAL ANSWER:
```json
{
"agent": {"position": [-3, -2], "facing": "west"},
"truck": {"position": [-2, 4], "facing": "east"},
"red door": {"position": [2, 5], "facing": "south"},
"backpack": {"position": [4, 0], "facing": "south"},
"shoes": {"position": [3, -3], "facing": "north"},
"chair": {"position": [2, -3], "facing": "north"},
"green door": {"position": [-3, -2], "facing": "east"},
"scooter": {"position": [-7, 2], "facing": "east"},
"basket": {"position": [-6, -1], "facing": "north"},
"table": {"position": [-6, -3], "facing": "north"}
}
```

THINK:
I need to update the cognitive map based on the observations.
Initial Position: (0,0) facing North.
My current position is at the green door. The green door was observed from (0,0) facing West (270° from initial North) at "front-left, mid distance".
"Mid distance" is (2,4]. Let's approximate ...

{
  "agent": {
    "position": [
      -3,
      -2
    ],
    "facing": "west"
  },
  "truck": {
    "position": [
      -2,
      4
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      2,
      5
    ],
    "facing": "south"
  },
  "backpack": {
    "position": [
      4,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      3,
      -3
    ],
    "facing": "north"
  },
  "chair": {
    "position": [
      2,
      -3
    ],
    "facing": "north"
  },
  "green door": {
    "position": [
      -3,
      -2
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -6,
      -1
    ],
    "facing": "north"
  },
  "table": {
    "position": [
      -6,
      -3
    ],
    "facing": "north"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      -2,
      -1
    ],
    "facing": "west"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      -2,
      -1
    ],
    "facing": "west"
  }
}

THINK:
I am at the `green door` looking into a new room (let's call it Room 2).
My previous observation at the green door showed:
- `scooter`: front-right, slightly far, facing backward.
- `basket`: front-slight-right, mid distance.
- `table`: front-slight-left, mid distance.
Also relation: `basket` is east of `table`, near.

Agent Frame:
- Origin: Agent's current position (at the door).
- +y: Agent's current facing direction (forward into Room 2).
- +x: Right.
- -x: Left.

Mapping observations to coordinates (approximate based on bins):
- `table`: front-slight-left, mid distance (2-4m). Let's estimate: front means +y, slight-left means small negative x. Mid distance ~3. Say x=-1, y=3.
- `basket`: front-slight-right, mid distance (2-4m). Relation says basket is east of table (meaning +x relative to table in global, or just right in agent frame if north is forward). Front-slight-right means +x, +y. Say x=1, y=3. Distance check: dx=2, near. Consistent.
- `scooter`: front-right, slightly far (4-8m). Facing backward (facing -y in local frame). Front-right means larger +x, larger +y. Say x=3, y=5.

Facing directions:
- `scooter`: facing backward. In local frame, backward is -y.
- `basket`, `table`: no facing specified in text (or just "facing" without direction in prompt, prompt says "facing backward" for scooter only). Wait, the prompt lists specific facings for objects in previous turns but for the current observation:
- `scooter`: facing backward.
- `basket`, `table`: no facing listed.

Wait, looking back at the prompt text:
"• scooter: front-right, slightly far, facing backward"
"• basket: front-slight-right, mid distance" (no facing)
"• table: front-slight-left, mid distance" (no facing)

So, only scooter has facing relative to me. Facing backward means it faces towards me (-y).

JSON construction:
origin: agent
objects:
- scooter: position [3, 5], facing -y (approx)
- basket: position [1, 3]
- table: position [-1, 3]

Actually, I should just stick to the quadrant logic for coordinates if exact distance isn't clear, but standardizing on integers makes it cleaner.
- table: front-slight-left -> x < 0, y > 0. Mid distance -> dist ~ 3. [-1, 3] looks good.
- basket: front-slight-right -> x > 0, y > 0. Mid distance -> dist ~ 3. [1, 3] looks good.
- scooter: front-right -> x >> 0, y > 0. Slightly far -> dist ~ 6. [3, 5] ensures angle > 22.5.

FINAL ANSWER:
```json
{
"origin": "agent",
"objects": {
"scooter": {"position": [3, 5], "facing": "-y"},
"basket": {"position": [1, 3]},
"table": {"position": [-1, 3]}
}
}
```

THINK:
I am at the `green door` looking into a new room (let's call it Room 2).
My previous observation at the green door showed:
- `scooter`: front-right, slightly far, facing backward.
- `basket`: front-slight-right, mid distance.
- `table`: front-slight-left, mid distance.
Also relation: `basket`...

{
  "origin": "agent",
  "objects": {
    "scooter": {
      "position": [
        3,
        5
      ],
      "facing": "-y"
    },
    "basket": {
      "position": [
        1,
        3
      ]
    },
    "table": {
      "position": [
        -1,
        3
      ]
    }
  }
}

{
  "table": {
    "position": [
      -1,
      3
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      3,
      5
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      1,
      3
    ],
    "facing": "east"
  }
}

{
  "origin": "agent",
  "objects": {
    "scooter": {
      "position": [
        3,
        5
      ],
      "facing": "-y"
    },
    "basket": {
      "position": [
        1,
        3
      ]
    },
    "table": {
      "position": [
        -1,
        3
      ]
    }
  }
}

{
  "table": {
    "position": [
      -1,
      3
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      3,
      5
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      1,
      3
    ],
    "facing": "east"
  }
}

THINK:
I am at the green door. I was facing West before jumping. The jump preserves orientation, so I am facing West. However, the observation says "Assume your current facing direction is called 'north'". Wait, the Fog Probe instructions say "North is Up" in the *map display*, but the observation text says "Assume your current facing direction is called 'north'" for the purpose of the relative descriptions *in the observation text* (like basket is east of table).

Let's reconcile the coordinate systems.
Global frame: Initial position (0,0), North is +y.
I was at (0,0), faced North, rotated 90 (East), 90 (South), 90 (West). So my global orientation is West.
I observed the green door at "front-left" while facing West.
Now I jumped to the green door. My orientation is still West (global).
Observation text: "scooter: front-right, slightly far", "basket: front-slight-right", "table: front-slight-left".
If my current facing is West (global), then "front" is West.
So:
- Scooter is to the West-North (front-right).
- Basket is to the West-North (front-slight-right).
- Table is to the West-South (front-slight-left).

Fog Probe Map Analysis:
The map shows North Up.
The agent '*' is at the green door. The wall runs vertically there (implied by the map structure, looking like a connection between right room and left room).
The right room is Room 1 (where I started). The left room is Room 2 (new room).
My position '*' is on the boundary.
My global facing is West (Left on the map).
My FOV covers the West side (left of the door).
The candidates are A, B, C, D, E, F.
The candidates are in the left room (Room 2).
Based on the observation:
- Table is front-slight-left. Front is West (Left). Left is South (Down). So front-left is West-South.
- Scooter is front-right. Front is West (Left). Right is North (Up). So front-right is West-North.
- Basket is front-slight-right. West-North area.

The candidates A, B, C, D, E, F are scattered in Room 2.
My FOV is 90 degrees centered on West. This covers the area directly to the left of the door on the map.
Looking at the map:
My position is at coordinates approx (7, 2) in the map grid (counting from bottom left 0,0).
Facing West means looking towards x decreasing.
FOV cone covers roughly North-West to South-West relative to the agent.
Let's check the candidates:
A: South-West of me. Likely visible if not blocked.
B: West-South of me. Likely visible.
D: West-North of me. Likely visible.
E: Far West-North.
C, F: North-West.

Wait, the prompt asks to select points in "unexplored/unobserved regions".
I just performed `Observe()` at the door facing West. This reveals objects in the West cone.
The objects I saw are: scooter (front-right), basket (front-slight-right), table (front-slight-left).
Distance bins: mid distance (2-4), slightly far (4-8).
In the map grid, one character is roughly 1 unit?
The map shows Room 2 is to the left.
I am facing West.
I see "front" (West).
I see "front-left" (South-West).
I see "front-right" (North-West).
So the cone covers the central part of Room 2 facing the door.
Which candidates are *unobserved*?
If I just observed, the area in front of me is observed.
The candidates A, B, D are directly in the "front" / "front-left" / "front-right" cone relative to me (West).
A is South-West.
B is West-South.
D is West-North.
C, F are further North.
E is Far West.

Let's look closer at the observation distances.
Table: mid distance (2-4m). Front-slight-left.
Basket: mid distance (2-4m). Front-slight-right.
Scooter: slightly far (4-8m). Front-right.

Map scale estimation: The door gap is 1 char. The room height is ~10 chars.
If I am at the door, 4m covers a reasonable chunk, but not the whole room. 8m covers more.
Candidate locations:
A is roughly 2-3 units South, 2-3 units West. (Front-left).
B is roughly 1 unit North, 3-4 units West. (Front).
D is roughly 3 units North, 2 units West. (Front-right).
C is roughly 4 units North, 1 unit West. (Right / Front-Right edge).
F is roughly 4 units North, 1 unit West (next to C).
E is far West.

If I observe facing West:
A is likely in FOV (front-left).
B is likely in FOV (front).
D is likely in FOV (front-right).
C, F are quite "North" (Right relative to me). Angle might be > 45 degrees?
Coordinates relative to Agent *:
Agent at approx (7, 2) (using map visual index, not real coords).
C/F are at approx (6, 6).
Delta X = -1 (West), Delta Y = +4 (North).
Angle: atan(4/1) ~ 76 degrees.
My FOV is +/- 45 degrees.
So C and F are likely outside the FOV (angle > 45 degrees to the right).
E is at approx (2, 6). Delta X = -5, Delta Y = +4. Angle ~ 38 degrees. This is within 45 degrees. However, distance is sqrt(25+16) ~ 6.4. "Slightly far". Might be visible. Wait, is there occlusion?
The question asks for *unexplored* regions.
The regions outside my FOV or occluded are unexplored.
I faced West. My FOV covers [-45, 45] relative to West. i.e., South-West to North-West.
Points C and F are at a steep angle (mostly North). They are likely "Beyond FOV" (specifically to my right).
Point A is South-West. Delta X ~ -2, Delta Y ~ -2. Angle 45 deg left. Borderline.
Point B is West. In FOV.
Point D is West-North. Delta X ~ -2, Delta Y ~ +2. Angle 45 deg right. Borderline.

Let's look at the specific observation "scooter: front-right, slightly far". This matches D's position roughly (North-West).
"Table: front-slight-left". Matches A/B region? No, table is mid distance.
If I have observed the room from the door, I have "explored" the visible cone.
The candidates clearly *outside* the cone or *behind* obstacles (if any) are unexplored.
C and F are very high up (North) relative to the door. Since I am facing West, "North" is my "Right".
Angle to C/F is high.
Are they unexplored? Yes.
What about A? It is South-West. Front-Left. I saw a table front-slight-left. A is likely observed or near observed items.
What about E? Far West-North. I saw a scooter front-right slightly far. E might be further or occluded. But E is more "front" than C/F.
Let's assume the standard FOV logic. C and F are definitely to the "side" (North wall of the room, close to the wall containing the door).
Candidates A, B, D seem to be in the main body of the room I am looking at.
Candidate E is far back.
However, usually, one observation doesn't cover the corners.
The "Fog Probe" usually tests if I understand what the current FOV covers.
My current FOV: West cone.
Covered: Area West of the door.
Not covered: North part of the room (Right of me) and South part (Left of me) that are close to the wall I am standing on.
C and F are close to the wall I am on (x coordinate close to mine) but far in Y.
So C and F are definitely unobserved.
A is close to the South wall? Delta X ~ -2, Delta Y ~ -2. Angle ~45. Maybe.
But usually, points "behind" the 45-degree lines are blind spots.
C and F are certainly in the blind spot (Right).
Is there any point in the blind spot (Left)?
A is at (4,1). Agent at (7,2). dx=-3, dy=-1. Angle atan(1/3) ~ 18 deg. Inside FOV.
B is at (3,3). Agent at (7,2). dx=-4, dy=+1. Angle atan(1/4) ~ 14 deg. Inside FOV.
D is at (4,5). Agent at (7,2). dx=-3, dy=+3. Angle 45 deg. Borderline.
E is at (2,6). dx=-5, dy=+4. Angle atan(4/5) ~ 38 deg. Inside FOV.
C is at (5,6). dx=-2, dy=+4. Angle atan(2) ~ 63 deg. Outside FOV (>45).
F is at (6,6). dx=-1, dy=+4. Angle atan(4) ~ 76 deg. Outside FOV (>45).

Conclusion: C and F are definitely outside the FOV (to the right).
A, B, D, E are geometrically within the +/- 45 degree cone facing West.
However, distance matters.
Scooter is "slightly far" (4-8).
Table is "mid" (2-4).
Basket is "mid" (2-4).
E is distance ~6.4.
D is distance ~4.2.
If scooter is at D or E, they are observed.
If nothing is reported at E, and E is in FOV, it's observed as "empty" or I missed it?
The task asks for "unexplored/unobserved". If I looked and saw nothing, is it unexplored? No, it's explored and empty.
Unexplored means I haven't looked there.
Regions outside FOV are unexplored.
C and F are outside FOV.

FINAL ANSWER:
{
"unexplored": ["C", "F"]
}

THINK:
I am at the green door. I was facing West before jumping. The jump preserves orientation, so I am facing West. However, the observation says "Assume your current facing direction is called 'north'". Wait, the Fog Probe instructions say "North is Up" in the *map display*, but the observation t...

################
#########......#
#########......#
#########......#
#########......#
#########......#
#########......#
#############+##
#.E..CF#......##
#....D.#......##
#......#......##
#..B...#......##
#......*......##
#...A..#......##
################

You jumped to green door. You observe:
• scooter: front-right, slightly far, facing backward
• basket: front-slight-right, mid distance
• table: front-slight-left, mid distance
Assume your current facing direction is called "north":
• basket is east, near to table.
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 green door. You observe:
• scooter: front-right, slightly far, facing backward
• basket: front-slight-right, mid distance
• table: front-slight-left, mid distance
Assume your current facing direction is called "north":
• basket is east, near to table.
You have a maximum of 15 explorat...

I am at the green door. I previously faced West. The green door was "front-left" and "on front wall" (West wall) when I was at the origin facing West. Now I am at the green door.
My orientation has not changed, so I am still facing West (Allo-West).
The observations are relative to my current orientation (West).
Objects observed:
- scooter: front-right, slightly far. Relative to West, front-right is roughly North-West.
- basket: front-slight-right, mid distance. Relative to West, front-slight-right is West-North-West.
- table: front-slight-left, mid distance. Relative to West, front-slight-left is West-South-West.

This new room (let's call it Room 2) seems to be to the West of Room 1.
I see scooter, basket, table.
I haven't fully explored this room, but standing at the door gives a good view. I might need to enter the room to see corners if they are occluded, but usually the door view covers a lot.
However, I have only looked "forward" (West) from the door. I might need to look left or right to see corners of Room 2.
Wait, FOV is 90 degrees. If I face West, I see from NW to SW.
I should check if there are other objects.
Also, I need to go back to Room 1 to check the red door eventually.

Let's do a quick scan of Room 2 from the door or jump in?
Jumping to an object inside Room 2 (e.g., table) and rotating would give better coverage.
Let's jump to the table. It is "mid distance".
Then I can look around Room 2.

I am at the green door. I previously faced West. The green door was "front-left" and "on front wall" (West wall) when I was at the origin facing West. Now I am at the green door.
My orientation has not changed, so I am still facing West (Allo-West).
The observations are relative to my current orient...

THINK:
I need to update the global cognitive map based on the observations so far.
Initial position: (0,0), facing North.

1. **Room 1 Observations (from (0,0)):**
* Facing North:
* `truck`: front-left (-45 to 0), mid distance (2-4). Approx (-2, 3) or (-3, 2). "Facing right" (East).
* `red door`: front-right (0 to 45), slightly far (4-8). "On front wall". Since it's on the front wall (North wall) relative to facing North, and slightly far, let's estimate position. "Slightly far" is 4-8. Maybe (2, 5).
* Facing East (rotated 90 deg clockwise):
* `backpack`: front (East), mid distance (2-4). Approx (3, 0). "Facing right" (South).
* `shoes`: front-right (East-South), slightly far (4-8). Approx (4, -4). "Facing left" (East).
* `red door`: front-left (East-North), slightly far. Consistent with previous observation.
* Facing South (rotated 90 deg clockwise):
* `chair`: front-left (South-East), mid distance (2-4). Approx (2, -3). "Facing backward" (North).
* Facing West (rotated 90 deg clockwise):
* `green door`: front-left (West-South), mid distance (2-4). "On front wall". Since I'm facing West, front wall is West wall. Mid distance (2-4). Front-left implies y < 0. Maybe (-3, -1).

2. **Move to Green Door:**
* Agent jumps to `green door`. Position approx (-3, -1). Facing West.

3. **Room 2 Observations (from `green door` facing West):**
* `scooter`: front-right (NW relative to agent), slightly far (4-8). Agent at (-3,-1). NW would be (-6, 2) roughly. "Facing backward" (East).
* `basket`: front-slight-right (WNW), mid distance (2-4). Approx (-6, 0).
* `table`: front-slight-left (WSW), mid distance (2-4). Approx (-6, -2).
* Relation: `basket` is East of `table`, near. Wait. If basket is East of table, and I am looking West...
* From door (looking West):
* Basket is front-slight-right (let's say bearing +15 deg).
* Table is front-slight-left (let's say bearing -15 deg).
* In global coords (North is up):
* Agent facing West (-x).
* Right is North (+y). Left is South (-y).
* Front-right (basket) is West-North.
* Front-left (table) is West-South.
* This implies basket has higher Y than table.
* This implies basket is North of table.
* However, the observation says "Assume your current facing direction is called 'north': basket is east, near to table".
* Current facing is West. So "North" in this local frame is West.
* "East" in this local frame is South (90 deg clockwise from "North"/West? No).
* Standard relative frame: "North" = Forward (West). "East" = Right (North). "South" = Backward (East). "West" = Left (South).
* If "basket is east [Right] ... to table", it means basket is to the Right of the table.
* Since I am facing West, Right is North. So Basket is North of Table.
* This matches the "front-right" (Basket) vs "front-left" (Table) observation.
* So Basket is at roughly (-6, 0) and Table at (-6, -2).

4. **Move to Table:**
* JumpTo(`table`). Agent is now at approx (-6, -2).
* Facing direction unchanged (West).
* Observation: "No objects in field of view".
* This means looking West from (-6, -2) reveals nothing.

Coordinates estimation (Integer approximations):
* Agent: at Table (-6, -2), facing West.
* Truck: (-2, 3) facing East.
* Red Door: (2, 5) or similar.
* Backpack: (3, 0) facing South.
* Shoes: (4, -4) facing East.
* Chair: (2, -3) facing North.
* Green Door: (-3, -1) (West wall of Room 1).
* Scooter: (-6, 2) facing East.
* Basket: (-6, 0).
* Table: (-6, -2).

Let's refine coordinates based on distances.
* Initial (0,0).
* Green door: "front-left, mid distance" facing West. West is (-x). Front-left is SW. Mid dist ~3. Maybe (-2, -2) or (-3, -1). Let's pick (-3, 0) or (-3, -1). The door is on the "front wall" (West wall). So x is roughly -3 or -4. Let's assume x=-3. y is likely close to 0 or slightly negative. Let's use (-3, 0).
* From Green Door (-3, 0) facing West:
* Table: "front-slight-left, mid distance". Mid dist ~3. Facing West, front-slight-left is WSW. dx ~ -3, dy ~ -1. Pos: (-6, -1).
* Basket: "front-slight-right, mid distance". WNW. dx ~ -3, dy ~ +1. Pos: (-6, 1).
* Scooter: "front-right, slightly far". NW. Dist ~5. dx ~ -3, dy ~ +3. Pos: (-6, 3).
* Checks: Basket (N of table) is consistent.
* Agent at Table (-6, -1). Facing West. Sees nothing.

Let's stick to these coordinates for the map.

FINAL ANSWER:
```json
{
"agent": {"position": [-6, -1], "facing": "west"},
"truck": {"position": [-2, 3], "facing": "east"},
"red door": {"position": [1, 5]},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [4, -4], "facing": "east"},
"chair": {"position": [2, -3], "facing": "north"},
"green door": {"position": [-3, 0]},
"scooter": {"position": [-6, 3], "facing": "east"},
"basket": {"position": [-6, 1]},
"table": {"position": [-6, -1]}
}
```

THINK:
I need to update the global cognitive map based on the observations so far.
Initial position: (0,0), facing North.

1. **Room 1 Observations (from (0,0)):**
* Facing North:
* `truck`: front-left (-45 to 0), mid distance (2-4). Approx (-2, 3) or (-3, 2). "Facing right" (East)....

{
  "agent": {
    "position": [
      -6,
      -1
    ],
    "facing": "west"
  },
  "truck": {
    "position": [
      -2,
      3
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      1,
      5
    ]
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -4
    ],
    "facing": "east"
  },
  "chair": {
    "position": [
      2,
      -3
    ],
    "facing": "north"
  },
  "green door": {
    "position": [
      -3,
      0
    ]
  },
  "scooter": {
    "position": [
      -6,
      3
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -6,
      1
    ]
  },
  "table": {
    "position": [
      -6,
      -1
    ]
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      -5,
      -2
    ],
    "facing": "west"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      -5,
      -2
    ],
    "facing": "west"
  }
}

THINK:
I am currently located at the `table` in Room 2, facing West. My previous observation from the `green door` (facing West) indicated the `table` was to my front-left, the `basket` to my front-right, and the `scooter` further right. The proximity relation stated that, relative to my facing direction (West), the `basket` was "east" of the `table` (which corresponds to Allo-North).
Since I jumped to the `table` and maintained my West-facing orientation, and the current observation reports "No objects in field of view", it means there are no objects in the cone ahead of me (West). The `basket` and `scooter` are likely to my right (North), and the `green door` is likely behind me (East), all outside my current 90° FOV. Therefore, the local map of my current view contains no objects.

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

THINK:
I am currently located at the `table` in Room 2, facing West. My previous observation from the `green door` (facing West) indicated the `table` was to my front-left, the `basket` to my front-right, and the `scooter` further right. The proximity relation stated that, relative to my facing dire...

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

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

THINK:
The agent is currently at the `table` in Room 2 (the left room), facing West.
Current coordinates (estimated from map): Agent at (4, 1) (if bottom row is y=0), Door at (7, 1).
The agent has observed Room 2 from two positions:
1. From the `green door` (7, 1) facing West. FOV covers the cone defined by `y - 1 <= - (x - 7)` (North-West) and `y - 1 >= (x - 7)` (South-West).
* Candidates A (2, 5) and B (3, 5):
* A: `5 <= -2 + 8 = 6`. Visible.
* B: `5 <= -3 + 8 = 5`. Visible (on boundary).
* Candidates E (4, 5), D (6, 5), C (6, 4), F (6, 6):
* E: `5 <= -4 + 8 = 4`. Not visible.
* D: `5 <= -6 + 8 = 2`. Not visible.
* C: `4 <= -6 + 8 = 2`. Not visible.
* F: `6 <= -6 + 8 = 2`. Not visible.
* Observation from door reported `scooter` (front-right, i.e., NW) and `basket` (front-slight-right, i.e., WNW). The presence of the scooter in the NW direction supports that the area around A and B was within the FOV.
2. From the `table` (4, 1) facing West. FOV covers `x < 4`.
* This view covers the bottom-left corner but does not extend to the northern candidates (A, B, C, D, E, F are all at y >= 4).

Conclusion: Candidates A and B were likely covered by the initial observation from the door. Candidates C, D, E, and F are in the northern section of Room 2 which is geometrically outside the previous fields of view (occluded by the angle). Thus, C, D, E, and F are in unexplored regions.

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

THINK:
The agent is currently at the `table` in Room 2 (the left room), facing West.
Current coordinates (estimated from map): Agent at (4, 1) (if bottom row is y=0), Door at (7, 1).
The agent has observed Room 2 from two positions:
1. From the `green door` (7, 1) facing West. FOV covers the cone d...

################
#########......#
#########......#
#########......#
#########......#
#########......#
#########......#
#############+##
#.....F#......##
#.ABE.D#......##
#.....C#......##
#......#......##
#......+......##
#...*..#......##
################

You jumped to table. You observe: No objects in field of view..
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 table. You observe: No objects in field of view..
You have a maximum of 14 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]...

I jumped to the table in Room 2. My orientation is still West (Allo-West).
The `Observe()` returned "No objects in field of view". This means looking West from the table shows nothing. The wall might be right in front of me, or just empty space.
The table was "front-slight-left" from the green door (which connects Room 1 East to Room 2 West).
I need to scan Room 2. Since West is empty, I should check North, South, and East.
East points back to the door.
I saw a scooter (front-right from door -> NW) and basket (front-slight-right from door -> W/NW).
Since I am at the table (SW from door), looking West showed nothing.
Let's rotate to look North or South.
If I rotate 90 degrees (clockwise) I will face North. I should see the scooter and basket.
Or I can rotate 180 to look back at the door (East).

Let's rotate 90 (to North) to see the other objects in the room.

I jumped to the table in Room 2. My orientation is still West (Allo-West).
The `Observe()` returned "No objects in field of view". This means looking West from the table shows nothing. The wall might be right in front of me, or just empty space.
The table was "front-slight-left" from the green door ...

THINK:
I need to construct the JSON map based on my observations.

**Agent History:**
1. **Start:** (0,0), Facing North.
* `Observe()`:
* `truck`: front-left (NW), mid (2-4), facing right (East). Est: (-2, 2).
* `red door`: front-right (NE), slightly far (4-8), on front wall (North). Est: (1, 6).
2. **Rotate(90) -> Facing East.**
* `Observe()`:
* `backpack`: front (East), mid (2-4), facing right (South). Est: (3, 0).
* `shoes`: front-right (SE), slightly far (4-8), facing left (North). Est: (3, -3).
* `red door`: front-left (NE), slightly far, on left wall. Confirms North wall location.
3. **Rotate(90) -> Facing South.**
* `Observe()`:
* `chair`: front-left (SE), mid (2-4), facing backward (North). Est: (2, -2).
4. **Rotate(90) -> Facing West.**
* `Observe()`:
* `green door`: front-left (SW), mid (2-4), on front wall (West). Est: (-3, -1) or on West wall. Given "front-left" from (0,0) facing West, it's roughly (-2, -1). Distance "mid" (2-4). Let's estimate (-3, 0) or (-3, -1).
5. **JumpTo(green door) -> At Green Door. Facing West.**
* `Observe()`:
* `scooter`: front-right (NW), slightly far (4-8), facing backward (East).
* `basket`: front-slight-right (WNW), mid (2-4).
* `table`: front-slight-left (WSW), mid (2-4).
* Coordinates estimation:
* Let Green Door be at (-3, 0).
* Scooter (NW relative to door): (-3 - 2, 0 + 4) -> (-5, 4).
* Basket (WNW): (-3 - 3, 0 + 1) -> (-6, 1).
* Table (WSW): (-3 - 3, 0 - 1) -> (-6, -1).
6. **JumpTo(table) -> At Table. Facing West.**
* `Observe()`: Nothing.
7. **Rotate(90) -> Facing North.**
* `Observe()`:
* `bike`: front-right (NE), slightly far, facing left (West).
* `scooter`: front-left (NW), slightly far, facing right (East).
* `basket`: front, near.

**Refining Coordinates:**
* **Green Door:** Originally observed from (0,0) facing West as "front-left, mid". Front-left bin is [-45, -22.5). Mid is (2,4]. Let's assume (-3, -1).
* **Table:** From Door (-3, -1) facing West: "front-slight-left, mid". Front-slight-left is [-22.5, 0). Mid is (2,4]. Let's say (-3 - 3, -1 - 0.5) -> (-6, -1.5). Let's simplify to integers (-6, -2).
* **Current Position:** At Table (-6, -2). Facing North.
* **Observations from Table (Facing North):**
* `basket`: Front, near. Front is [-22.5, 22.5]. Near is (0,2]. So basket is at (-6, -2 + 1.5) -> (-6, -0.5). Let's say (-6, 0).
* `scooter`: Front-left (NW), slightly far (4-8). From (-6, -2) facing N, NW is (-6 - 3, -2 + 4) -> (-9, 2). Previously from door: NW. Consistent.
* `bike`: Front-right (NE), slightly far (4-8). From (-6, -2) facing N, NE is (-6 + 3, -2 + 4) -> (-3, 2).
* **Truck:** From (0,0) facing N: front-left (NW), mid. (-2, 2).
* **Red Door:** From (0,0) facing N: front-right, slightly far. From (0,0) facing E: front-left, slightly far. Likely on North wall, maybe at (1, 4) or (2, 4).
* **Backpack:** From (0,0) facing E: front, mid. (3, 0).
* **Shoes:** From (0,0) facing E: front-right (SE), slightly far. (2, -3).
* **Chair:** From (0,0) facing S: front-left (SE), mid. (2, -2).

Let's stick to approximate integer coordinates.
Agent is at Table (-6, -2) facing North.

FINAL ANSWER:
```json
{
"agent": {"position": [-6, -2], "facing": "north"},
"truck": {"position": [-2, 2], "facing": "east"},
"red door": {"position": [1, 5], "facing": "south"},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [3, -3], "facing": "north"},
"chair": {"position": [2, -2], "facing": "north"},
"green door": {"position": [-3, -1], "facing": "west"},
"table": {"position": [-6, -2], "facing": "north"},
"scooter": {"position": [-9, 2], "facing": "east"},
"basket": {"position": [-6, 0], "facing": "south"},
"bike": {"position": [-3, 2], "facing": "west"}
}
```

THINK:
I need to construct the JSON map based on my observations.

**Agent History:**
1. **Start:** (0,0), Facing North.
* `Observe()`:
* `truck`: front-left (NW), mid (2-4), facing right (East). Est: (-2, 2).
* `red door`: front-right (NE), slightly far (4-8), on front wa...

{
  "agent": {
    "position": [
      -6,
      -2
    ],
    "facing": "north"
  },
  "truck": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      1,
      5
    ],
    "facing": "south"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      3,
      -3
    ],
    "facing": "north"
  },
  "chair": {
    "position": [
      2,
      -2
    ],
    "facing": "north"
  },
  "green door": {
    "position": [
      -3,
      -1
    ],
    "facing": "west"
  },
  "table": {
    "position": [
      -6,
      -2
    ],
    "facing": "north"
  },
  "scooter": {
    "position": [
      -9,
      2
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -6,
      0
    ],
    "facing": "south"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      -5,
      -2
    ],
    "facing": "north"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      -5,
      -2
    ],
    "facing": "north"
  }
}

THINK:
I am at the 'table' in Room 2.
I was facing West, then rotated 90 degrees clockwise, so I am now facing North (Global North).
From my current position (origin) and facing (local +y = Global North):
- **basket**: "front, near". "Front" is +y. "Near" is distance (0, 2]. Let's estimate y=2. So basket at (0, 2).
- **scooter**: "front-left, slightly far, facing right". "Front-left" is roughly North-West. "Slightly far" is (4, 8]. Let's say dist 5. Angle approx -30 to -45 deg. Pos roughly (-3, 4). Object facing "right". In local frame (facing +y), "right" is +x.
- **bike**: "front-right, slightly far, facing left". "Front-right" is roughly North-East. Dist ~5. Pos roughly (3, 4). Object facing "left" is -x.

Let's refine coordinates based on relative positions if available. I only have "basket is east, near to table" from the previous observation at the green door.
Previous observation at Green Door (facing West):
- table: front-slight-left (SW relative to door).
- basket: front-slight-right (NW relative to door? No, wait. "basket is east, near to table" - this was reported in the door observation context. Wait, the proximity report "basket is east, near to table" was given when I was at the green door looking West. The proximity report uses the "current facing direction as north" for the reference frame.
- At Green Door, Facing West. "North" in proximity frame = West (Global).
- "basket is east, near to table". "East" in proximity frame = Backwards (East Global)? No.
- Proximity Frame: "using your current facing direction as north".
- Agent Facing (Global) = West.
- Proximity Frame North = West (Global). Proximity Frame East = North (Global). Proximity Frame South = East (Global). Proximity Frame West = South (Global).
- Report: "basket is east, near to table".
- This means Basket is to the "Proximity East" of Table.
- "Proximity East" = Global North.
- So Basket is Global North of Table.
- Distance "near" (0, 2].

Now I am at the Table, facing Global North.
- Observation: "basket: front, near".
- My facing is Global North. "Front" is Global North.
- So Basket is Global North of me. This matches.
- Distance "near". Let's assign local (0, 2).

- Scooter: "front-left".
- Bike: "front-right".

I need to output the Local Cognitive Map relative to me NOW (at Table, facing North).
Local Frame: +y is North. +x is East.

Objects:
- basket: Front (+y). Pos [0, 2].
- scooter: Front-Left. Pos [-3, 4] (approx). Facing "right" -> +x (Global East). In local frame (aligned with global), +x is +x.
- bike: Front-Right. Pos [3, 4] (approx). Facing "left" -> -x (Global West). In local frame, -x is -x.

Let's pick integers for "slightly far" (4-8). Let's use y=5, x= +/- 3.
Scooter: (-3, 5). Facing +x.
Bike: (3, 5). Facing -x.

FINAL ANSWER:
{
"origin": "agent",
"objects": {
"basket": {"position": [0, 2]},
"scooter": {"position": [-3, 5], "facing": "+x"},
"bike": {"position": [3, 5], "facing": "-x"}
}
}

THINK:
I am at the 'table' in Room 2.
I was facing West, then rotated 90 degrees clockwise, so I am now facing North (Global North).
From my current position (origin) and facing (local +y = Global North):
- **basket**: "front, near". "Front" is +y. "Near" is distance (0, 2]. Let's estimate y=2. So b...

{
  "origin": "agent",
  "objects": {
    "basket": {
      "position": [
        0,
        2
      ]
    },
    "scooter": {
      "position": [
        -3,
        5
      ],
      "facing": "+x"
    },
    "bike": {
      "position": [
        3,
        5
      ],
      "facing": "-x"
    }
  }
}

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

{
  "origin": "agent",
  "objects": {
    "basket": {
      "position": [
        0,
        2
      ]
    },
    "scooter": {
      "position": [
        -3,
        5
      ],
      "facing": "+x"
    },
    "bike": {
      "position": [
        3,
        5
      ],
      "facing": "-x"
    }
  }
}

{
  "bike": {
    "position": [
      2,
      4
    ],
    "facing": "west"
  }
}

You rotated clockwise 90°. You observe:
• bike: front-right, slightly far, facing left
• scooter: front-left, slightly far, facing right
• basket: front, near.
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:
• bike: front-right, slightly far, facing left
• scooter: front-left, slightly far, facing right
• basket: front, near.
You have a maximum of 13 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Act...

I am at the table in Room 2, facing North (Allo-North).
I see:
- bike: front-right (Allo-NE)
- scooter: front-left (Allo-NW)
- basket: front (Allo-N)

The scooter and basket were seen from the door. The bike is new.
Room 2 objects found: scooter, basket, table, bike.
I haven't checked South or East (back to door) from here thoroughly, but I saw the table and basket from the door.
I need to check if there are other doors in Room 2. The green door is to the East.
I haven't scanned South or West fully.
Previous step at table facing West (Allo-West) showed nothing.
Now facing North (Allo-North).
I should check South (Allo-South) and East (Allo-East).
East should show the green door.
South might hide something.

Let's rotate 90 clockwise to face East.

I am at the table in Room 2, facing North (Allo-North).
I see:
- bike: front-right (Allo-NE)
- scooter: front-left (Allo-NW)
- basket: front (Allo-N)

The scooter and basket were seen from the door. The bike is new.
Room 2 objects found: scooter, basket, table, bike.
I haven't checked South or East ...

THINK:
I need to construct the JSON map based on my observations.
Initial Position: (0,0) Room 1, facing North.
Observations from (0,0):
- North (0,0, facing N): truck (front-left, mid), red door (front-right, slight far, front wall).
- East (0,0, facing E): backpack (front, mid), shoes (front-right, slight far), red door (front-left, slight far, left wall - consistent with N wall).
- South (0,0, facing S): chair (front-left, mid).
- West (0,0, facing W): green door (front-left, mid, front wall).

Let's estimate coordinates. "Mid distance" is (2,4], say 3. "Slightly far" is (4,8], say 5. "Near" is (0,2], say 1.
Origin (0,0).
Truck (N scan): front-left. Front is +y. Left is -x. Angle [-45, -22.5). Distance ~3. Pos roughly (-1, 3). Facing Right (East).
Red Door (N scan): front-right. Angle (22.5, 45]. Dist ~5. Pos roughly (2, 5). On front wall (North wall). Let's say y=5 is the wall.
Backpack (E scan): Front (East, +x). Dist ~3. Pos (3, 0). Facing Right relative to agent facing East -> South.
Shoes (E scan): Front-right (East-South). Dist ~5. Pos (4, -2). Facing Left relative to agent facing East -> North.
Chair (S scan): Front-left (South-East). Dist ~3. Pos (2, -2). Facing Backward relative to agent facing South -> North.
Green Door (W scan): Front-left (West-South). Dist ~3. On front wall (West wall). Let's say x=-3 is the wall. Pos (-3, -1).

Jump to Green Door. Agent at (-3, -1). Facing West.
Observations from Green Door (facing W):
- Scooter: front-right (NW). Dist ~5. Pos (-3-3, -1+3) = (-6, 2). Facing Backward (relative to W) -> East.
- Basket: front-slight-right (W-NW). Dist ~3. Pos (-3-3, -1+1) = (-6, 0).
- Table: front-slight-left (W-SW). Dist ~3. Pos (-3-3, -1-1) = (-6, -2).

Jump to Table. Pos (-6, -2). Facing West.
Observe West: Nothing.
Rotate to North. Agent at (-6, -2), facing N.
Observations:
- Bike: front-right (NE). Dist ~5. Pos (-6+3, -2+4) = (-3, 2)? No, (-6+3, -2+3) = (-3, 1). Facing Left (relative to N) -> West.
- Scooter: front-left (NW). Dist ~5. Pos (-6-2, -2+4) = (-8, 2). Facing Right (relative to N) -> East. Previously estimated at (-6, 2). Let's adjust.
- Basket: front (N). Dist Near (~1-2). Pos (-6, -2+2) = (-6, 0). Matches previous.

Let's refine coordinates.
Room 1:
- Agent start (0,0).
- Truck: (-1, 3), facing East.
- Red Door: (2, 5).
- Backpack: (3, 0), facing South.
- Shoes: (4, -2), facing North.
- Chair: (2, -2), facing North.
- Green Door: (-3, -1).

Room 2 (West of Room 1):
- Green Door: (-3, -1).
- Table: (-6, -2).
- Basket: (-6, 0).
- Scooter: (-7, 3) or (-8, 2). Let's say (-7, 3). Facing East.
- Bike: (-3, 2) or (-4, 2). Facing West.

Agent current state: At Table (-6, -2), facing East.

FINAL ANSWER:
```json
{
"agent": {"position": [-6, -2], "facing": "east"},
"truck": {"position": [-1, 3], "facing": "east"},
"red door": {"position": [2, 5]},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [4, -2], "facing": "north"},
"chair": {"position": [2, -2], "facing": "north"},
"green door": {"position": [-3, -1]},
"table": {"position": [-6, -2]},
"basket": {"position": [-6, 0]},
"scooter": {"position": [-7, 3], "facing": "east"},
"bike": {"position": [-3, 2], "facing": "west"}
}
```

THINK:
I need to construct the JSON map based on my observations.
Initial Position: (0,0) Room 1, facing North.
Observations from (0,0):
- North (0,0, facing N): truck (front-left, mid), red door (front-right, slight far, front wall).
- East (0,0, facing E): backpack (front, mid), shoes (front-right...

{
  "agent": {
    "position": [
      -6,
      -2
    ],
    "facing": "east"
  },
  "truck": {
    "position": [
      -1,
      3
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      2,
      5
    ]
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "chair": {
    "position": [
      2,
      -2
    ],
    "facing": "north"
  },
  "green door": {
    "position": [
      -3,
      -1
    ]
  },
  "table": {
    "position": [
      -6,
      -2
    ]
  },
  "basket": {
    "position": [
      -6,
      0
    ]
  },
  "scooter": {
    "position": [
      -7,
      3
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  }
}

THINK:
I am currently at the "table" in Room 2. My global orientation is East (since I rotated 90 deg clockwise from North).
My local frame is:
+y = East (global)
+x = South (global)
-x = North (global)
-y = West (global)

I am observing the "green door".
Observation: "green door: front-slight-left, mid distance, on front wall."
"Front-slight-left" means local angle is slightly positive (between 0 and 22.5 degrees? No, left is negative angle in standard math but in these bins:
Wait, the instructions say:
Bins: 0 is front.
[-22.5, 0) -> front-slight-left.
So angle is slightly to the left of straight ahead.
In local coordinates (+y is front, -x is left):
Coordinate roughly (x, y). "Mid distance" is (2, 4]. Let's estimate d=3.
Front-slight-left implies x is small negative, y is positive large.
Say x ~ -1, y ~ 3.
The door is "on front wall", which means the wall I am facing (East wall of Room 2).
Orientation of the door: "on front wall". The wall normal opposes my facing. So the door faces West (towards me). In local frame (where +y is East), West is -y. So facing "-y".

Let's refine coordinates.
Green door observed from table (at origin).
Bearing: front-slight-left.
Distance: mid (say 3).
Local position: maybe [-1, 3].
Facing: on front wall. Wall is perpendicular to +y. So door faces -y.

JSON construction:
origin: agent
objects: green door.

FINAL ANSWER:
{
"origin": "agent",
"objects": {
"green door": {"position": [-1, 3], "facing": "-y"}
}
}

THINK:
I am currently at the "table" in Room 2. My global orientation is East (since I rotated 90 deg clockwise from North).
My local frame is:
+y = East (global)
+x = South (global)
-x = North (global)
-y = West (global)

I am observing the "green door".
Observation: "green door: front-slight-left,...

{
  "origin": "agent",
  "objects": {
    "green door": {
      "position": [
        -1,
        3
      ],
      "facing": "-y"
    }
  }
}

{
  "green door": {
    "position": [
      -1,
      3
    ],
    "facing": "east"
  }
}

{
  "origin": "agent",
  "objects": {
    "green door": {
      "position": [
        -1,
        3
      ],
      "facing": "-y"
    }
  }
}

You rotated clockwise 90°. You observe:
• green door: front-slight-left, mid distance, 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:
• green door: front-slight-left, mid distance, 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: [ ... ]...

I am at the table, facing East. I see the green door.
I have checked West (empty), North (bike, scooter, basket), and East (green door).
I should check South to be sure no objects or doors are there.
Then I should return to Room 1 via the green door and go to the red door.

Let's rotate 90 clockwise to face South.

I am at the table, facing East. I see the green door.
I have checked West (empty), North (bike, scooter, basket), and East (green door).
I should check South to be sure no objects or doors are there.
Then I should return to Room 1 via the green door and go to the red door.

Let's rotate 90 clockwise...

THINK:
I need to construct the cognitive map based on my observations.
Initial state: Agent at (0,0) facing North.

**Observations:**

1. **Room 1 (Start):**
* **Pos (0,0), Facing North:**
* `truck`: front-left (-45° to 0°), mid distance (2-4m), facing right (East). Let's estimate position. Angle ~-22.5°, Dist ~3. Position roughly (-1, 3).
* `red door`: front-right (0° to 45°), slightly far (4-8m), on front wall (North wall). Angle ~22.5°, Dist ~5. Position roughly (2, 5).
* **Pos (0,0), Facing East:**
* `backpack`: front (East), mid distance (2-4m), facing right (South). Position roughly (3, 0).
* `shoes`: front-right (South-East), slightly far (4-8m), facing left (North). Angle ~22.5° relative to East (SE). Dist ~5. Position roughly (4, -3).
* `red door`: front-left (North-East). Consistent.
* **Pos (0,0), Facing South:**
* `chair`: front-left (South-East), mid distance (2-4m), facing backward (North). Angle ~-22.5° relative to South (SE). Dist ~3. Position roughly (1, -3).
* **Pos (0,0), Facing West:**
* `green door`: front-left (South-West), mid distance (2-4m), on front wall (West wall). Angle ~-22.5° relative to West (SW). Dist ~3. Position roughly (-3, -1).

2. **Room 2 (Entered via green door):**
* Agent jumped to `green door`. Position approx (-3, -1). Facing West.
* **Pos (-3, -1), Facing West (at green door):**
* `scooter`: front-right (NW), slightly far (4-8m), facing backward (East). Dist ~5. Position roughly (-3 - 3, -1 + 4) = (-6, 3).
* `basket`: front-slight-right (WNW), mid distance (2-4m). Dist ~3. Position roughly (-3 - 3, -1 + 1) = (-6, 0).
* `table`: front-slight-left (WSW), mid distance (2-4m). Dist ~3. Position roughly (-3 - 3, -1 - 1) = (-6, -2).
* Relational: `basket` is East, near to `table`. Wait, if basket is WNW and table is WSW, basket is North of table. The relation "basket is east, near to table" implies basket is to the right of table if facing North. Let's re-evaluate.
* Agent facing West (North is Right).
* Table is at (-6, -2).
* Basket is at (-6, 0).
* If North is global North: Basket (-6, 0) is North of Table (-6, -2). This contradicts "basket is east of table".
* Let's check the relation text: "Assume your current facing direction is called 'north': basket is east, near to table."
* Current facing is West. So "north" is West. "East" is South (relative to West, East is -90 deg? No, East is Right, South is Back).
* Standard relative directions:
* Agent Facing: F (West).
* "North" map frame = West.
* "East" map frame = North (relative to agent).
* So "basket is east" means basket is to the Right of the table relative to the Agent.
* Agent sees Table front-left (Left). Basket front-right (Right). So Basket is to the right of Table. This matches.
* Agent jumped to `table`. Position approx (-6, -2). Facing West.
* **Pos (-6, -2), Facing West:** Empty.
* **Pos (-6, -2), Facing North:**
* `bike`: front-right (NE), slightly far (4-8m), facing left (West). Dist ~5. Position roughly (-6 + 3, -2 + 4) = (-3, 2).
* `scooter`: front-left (NW), slightly far (4-8m), facing right (East). Dist ~5. Position roughly (-6 - 3, -2 + 4) = (-9, 2). *Correction*: From door (-3,-1), scooter was front-right (NW). (-6, 3). From table (-6, -2), facing N, scooter is front-left (NW). (-9, 2) vs (-6, 3). Let's average. Maybe (-7, 3).
* `basket`: front (N), near (0-2m). Position roughly (-6, 0). Matches door observation.
* **Pos (-6, -2), Facing East:**
* `green door`: front-slight-left (NE), mid distance (2-4m). Dist ~3. Position (-3, -1). Matches.
* **Pos (-6, -2), Facing South:** Empty.

**Coordinates Estimation:**
* Agent Start: (0,0)
* **Room 1:**
* `truck`: (-2, 3) [Front-left from (0,0) N].
* `red door`: (2, 5) [Front-right from (0,0) N].
* `backpack`: (3, 0) [Front from (0,0) E].
* `shoes`: (4, -2) [Front-right from (0,0) E].
* `chair`: (2, -3) [Front-left from (0,0) S].
* `green door`: (-3, -1) [Front-left from (0,0) W].
* **Room 2:**
* `table`: (-6, -2).
* `basket`: (-6, 0).
* `scooter`: (-7, 3).
* `bike`: (-3, 3).

Refining positions based on "slightly far" (4-8) vs "mid" (2-4):
* `truck`: (-2, 3) seems ok (mid).
* `red door`: (3, 6) or (2, 5)? "slightly far" -> >4m. (2, 5) dist is sqrt(29) ~ 5.4. OK.
* `backpack`: (3, 0) mid. OK.
* `shoes`: (4, -3) "slightly far" from (0,0). Dist ~5. OK.
* `chair`: (2, -3) "mid" from (0,0). Dist ~3.6. OK.
* `green door`: (-3, -1) "mid" from (0,0). Dist ~3.16. OK.
* `table`: (-6, -2). From door (-3, -1) to (-6, -2) is (-3, -1). Dist ~3.16. "Mid". OK.
* `basket`: (-6, 0). From door (-3, -1) to (-6, 0) is (-3, 1). Dist ~3.16. "Mid". OK. From table (-6, -2) to (-6, 0) is (0, 2). "Near" (<=2). OK.
* `scooter`: (-7, 3). From door (-3, -1) to (-7, 3) is (-4, 4). Dist ~5.6. "Slightly far". OK. From table (-6, -2) to (-7, 3) is (-1, 5). Dist ~5.1. "Slightly far". OK.
* `bike`: (-3, 3). From table (-6, -2) to (-3, 3) is (3, 5). Dist ~5.8. "Slightly far". OK.

**Agent State:**
* Current Position: At `table` approx (-6, -2).
* Current Facing: South.

**JSON Construction:**
* Coordinates are integers.
* Agent facing "south".

FINAL ANSWER:
```json
{
"agent": {"position": [-6, -2], "facing": "south"},
"truck": {"position": [-2, 3], "facing": "east"},
"red door": {"position": [2, 5], "facing": "south"},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [4, -3], "facing": "north"},
"chair": {"position": [2, -3], "facing": "north"},
"green door": {"position": [-3, -1], "facing": "east"},
"scooter": {"position": [-7, 3], "facing": "east"},
"basket": {"position": [-6, 0]},
"table": {"position": [-6, -2]},
"bike": {"position": [-3, 3], "facing": "west"}
}
```

THINK:
I need to construct the cognitive map based on my observations.
Initial state: Agent at (0,0) facing North.

**Observations:**

1. **Room 1 (Start):**
* **Pos (0,0), Facing North:**
* `truck`: front-left (-45° to 0°), mid distance (2-4m), facing right (East). Let's estimate p...

{
  "agent": {
    "position": [
      -6,
      -2
    ],
    "facing": "south"
  },
  "truck": {
    "position": [
      -2,
      3
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      2,
      5
    ],
    "facing": "south"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -3
    ],
    "facing": "north"
  },
  "chair": {
    "position": [
      2,
      -3
    ],
    "facing": "north"
  },
  "green door": {
    "position": [
      -3,
      -1
    ],
    "facing": "east"
  },
  "scooter": {
    "position": [
      -7,
      3
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -6,
      0
    ]
  },
  "table": {
    "position": [
      -6,
      -2
    ]
  },
  "bike": {
    "position": [
      -3,
      3
    ],
    "facing": "west"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      -5,
      -2
    ],
    "facing": "south"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      -5,
      -2
    ],
    "facing": "south"
  }
}

THINK:
I am at the table in Room 2, facing South (Allo-South). The `Observe()` action returned "No objects in field of view".
This means my current local cognitive map should contain no objects, as I see nothing.

The "Local Cognitive Map" asks for objects *in the current field of view*.
Since the last observation was empty, the `objects` dictionary should be empty.

Current State:
- Agent at `table` in Room 2.
- Facing South.
- Observation: "No objects in field of view".

JSON Construction:
- origin: "agent"
- objects: {}

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

THINK:
I am at the table in Room 2, facing South (Allo-South). The `Observe()` action returned "No objects in field of view".
This means my current local cognitive map should contain no objects, as I see nothing.

The "Local Cognitive Map" asks for objects *in the current field of view*.
Since the l...

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

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

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: [ ... ]...

I have fully explored Room 2.
Objects: table, scooter, basket, bike.
Door: green door.
Directions checked from table:
- West: Empty
- North: bike, scooter, basket
- East: green door
- South: Empty

Room 2 is done. I need to go back to Room 1 and check the red door.
I am at the table facing South.
To go to the red door, I must first go to the green door.
The green door is East of the table.
I need to turn to face the door to jump to it?
The rule says: "The object you jump to MUST be in your field of view and previously observed."
Currently facing South. Green door is not in FOV (FOV is 90 deg, front).
I need to rotate to see the green door. It was visible when facing East.
So I Rotate(-90) (or 270) to face East. Or Rotate(90) to face West? No, Green door is East.
I am facing South. Left is East. Rotate(-90) faces East.
Then I can JumpTo(green door).

However, I can chain actions.
Rotate(-90), JumpTo(green door).
At the green door, I will be facing East.
I need to go to the red door in Room 1.
The red door was on the North wall of Room 1.
Room 1 is East of Room 2 (since green door connects them).
Wait, "green door: ... on front wall" when facing East from table. So Green door is on East wall of Room 2. Entering it puts me in Room 1.
In Room 1, I need to go to the red door.
From the green door (which is on the West wall of Room 1), looking into Room 1 (East), I should see the red door if it's in FOV.
The red door is on the North wall.
If I face East at the green door, my FOV covers NE to SE.
Red door (North wall) might be visible (front-left relative to East?).
Let's first get to the green door.

Actions: Rotate(-90), JumpTo(green door), Observe().

I have fully explored Room 2.
Objects: table, scooter, basket, bike.
Door: green door.
Directions checked from table:
- West: Empty
- North: bike, scooter, basket
- East: green door
- South: Empty

Room 2 is done. I need to go back to Room 1 and check the red door.
I am at the table facing South.
To...

THINK:
I need to construct the JSON map based on my observations.

**Agent State:**
- Initial: (0,0) facing North.
- Rotated 90 (East), Rotated 90 (South), Rotated 90 (West). Jumped to green door.
- Jumped to table. Rotated 90 (North), Rotated 90 (East), Rotated 90 (South).
- Rotated -90 (East), Jumped to green door.
- Current Position: Green door. Facing East.

**Coordinates Calculation:**
I will estimate coordinates based on the grid descriptions (steps, distance bins).
Distance bins:
- near: (0, 2] -> avg ~1-2
- mid distance: (2, 4] -> avg ~3
- slightly far: (4, 8] -> avg ~6
- far: (8, 16] -> avg ~12

**Room 1 (Origin 0,0):**
- **Agent Start**: (0,0) North.
- **truck**: front-left (NW), mid (3). From (0,0) facing N -> NW is roughly (-2, 2).
- **red door**: front-right (NE), slightly far (6). On front wall (North). Facing N -> NE is roughly (3, 5). The door is on the North wall, so y should be positive. Let's say y=5. x=3.
- **backpack**: from (0,0) facing E (Observe 2): front (E), mid (3). -> (3, 0).
- **shoes**: from (0,0) facing E: front-right (SE), slightly far (6). -> (4, -4).
- **chair**: from (0,0) facing S (Observe 3): front-left (SE), mid (3). -> (2, -2). Wait, SE from facing South is South-East. Facing South is -y. Left of South is East. So Front-Left is SE. (2, -2).
- **green door**: from (0,0) facing W (Observe 4): front-left (SW), mid (3). On front wall (West). -> (-3, -1). West wall usually x=-something. Let's assume x=-3.

**Room 2 (Connected via Green Door):**
- Green Door Position: (-3, -1) (approx).
- **Agent at Green Door** facing West (Observe 5):
- **scooter**: front-right (NW), slightly far (6). Relative to West (-x), Right is North (+y). So NW from door. Door at (-3, -1). NW is (-3-4, -1+4) -> (-7, 3).
- **basket**: front-slight-right (W-NW), mid (3). (-3-3, -1+1) -> (-6, 0).
- **table**: front-slight-left (W-SW), mid (3). (-3-3, -1-1) -> (-6, -2).
- Note: "basket is east, near to table". Table (-6, -2). Basket (-6, 0). East relation fits roughly (same x, different y?). Or relative east? "basket is east... to table" means basket has larger x than table? (-6 vs -6). Maybe (-5, -2) vs (-6, -2)? Let's stick to observations.
- **Agent at Table (-6, -2)** facing North (Observe 7):
- **bike**: front-right (NE), slightly far (6). From (-6, -2) facing N -> NE -> (-6+4, -2+4) -> (-2, 2). Wait, (-2, 2) is near the truck in Room 1? No, walls block vision. Room 2 is West of Room 1. Maybe x is more negative.
- Let's refine relative positions.
- Green door is at boundary. Let's say x=-3.
- Table is mid-dist (3) from door facing West. So x_table = -3 - 3 = -6. y_table ~ -1 - 1 = -2.
- From Table (-6, -2) facing North:
- Bike: NE, slightly far (6). x = -6 + 4 = -2. y = -2 + 4 = 2. This puts bike in Room 1? Possible if walls are thin? Or my distance estimates are off. Room 2 should be enclosed.
- Scooter: NW, slightly far (6). x = -6 - 4 = -10. y = -2 + 4 = 2.
- Basket: Front (N), near (1-2). x = -6. y = -2 + 2 = 0.
- Previous basket obs from door: front-slight-right (WNW). Door (-3, -1). Vector to (-6, 0) is (-3, 1). Angle arctan(1/-3) ~ 160 deg (WNW). Matches.
- Scooter obs from door: front-right (NW). Door (-3, -1). Vector to (-10, 2) is (-7, 3). Angle arctan(3/-7) ~ 156 deg (WNW). Close to NW.
- Bike not seen from door? Maybe occluded or out of FOV. From door facing West, FOV is NW to SW. (-2, 2) relative to (-3, -1) is (1, 3). That is NE. Behind the wall/door plane. Makes sense it wasn't seen.
- Wait, bike is NE from Table (-6, -2). (-2, 2). This is definitely towards Room 1. Maybe it's in the corner of Room 2?
- **Agent at Green Door** facing East (Observe 10 - Current):
- **chair**: front-slight-right (ESE), mid (3). Door (-3, -1). (+3, -1) -> (0, -2). Matches previous chair (-2, -2) or (2, -2)?
- Previous: from (0,0) facing S. Front-left (SE). Vector (2, -2).
- From door (-3, -1) facing E. Target (2, -2). Vector (5, -1). E is (1,0). Angle is slight right. Fits.
- **backpack**: front-slight-left (ENE), slightly far (6). Door (-3, -1). Target (3, 0). Vector (6, 1). Fits.
- **shoes**: front-slight-right (ESE), slightly far (6). Door (-3, -1). Target (4, -4). Vector (7, -3). Fits.
- **red door**: front-left (NE), slightly far (6). On left wall (North). Door (-3, -1). Target (3, 5). Vector (6, 6). NE. Fits.

**Refined Coordinates:**
Room 1:
- Agent Start: (0,0)
- Truck: (-2, 2)
- Red Door: (3, 5) (North Wall)
- Backpack: (3, 0)
- Shoes: (4, -4)
- Chair: (2, -2)
- Green Door: (-3, -1) (West Wall)

Room 2 (West of x=-3):
- Table: (-6, -2)
- Basket: (-6, 0)
- Scooter: (-10, 2)
- Bike: (-2, 2)?? Wait.
- Bike is NE from Table (-6, -2). Vector (4, 4). Pos (-2, 2).
- Is (-2, 2) inside Room 2?
- Green door is at x=-3. Room 1 is x > -3. Room 2 is x < -3.
- If bike is at x=-2, it's in Room 1.
- But I saw it from Room 2 (at table).
- Maybe the wall is not straight x=-3? Or Bike is (-4, 2)?
- From Table (-6, -2) facing N. Bike is Front-Right (NE). Distance slightly far (6).
- If Angle is 22.5 to 67.5. Let's say 30 deg. x = -6 + 6*sin(30) = -3. y = -2 + 6*cos(30) = 3.2.
- Pos (-3, 3). This is on the boundary. Maybe just inside Room 2.
- Let's place Bike at (-4, 2).
- Scooter: NW from Table. (-8, 2).

**Final Object List:**
- Agent: at Green Door (approx -3, -1), facing East.
- truck: (-2, 2), facing right (East)
- red door: (3, 5)
- backpack: (3, 0), facing right (South? No, facing right relative to my view? "facing right" usually means its local frame. But instructions say "facing X" is orientation.)
- Obs 1: truck facing right. (East)
- Obs 2: backpack facing right. (South? Agent facing East. Right of Agent is South. So Backpack facing South.)
- Obs 2: shoes facing left. (North? Agent facing East. Left is North.)
- Obs 3: chair facing backward. (North? Agent facing South. Backward is North.)
- Obs 5 (Room 2, facing West): scooter facing backward (East).
- Obs 7 (Room 2, facing North): bike facing left (West). scooter facing right (East). (Matches).
- Obs 10 (Room 1, facing East): chair facing left (North). Matches. backpack facing right (South). Matches. shoes facing left (North). Matches.
- basket: (-6, 0). No facing.
- table: (-6, -2). No facing.
- scooter: (-8, 2), facing East.
- bike: (-4, 3), facing West.
- chair: (2, -2), facing North.
- shoes: (4, -4), facing North.

Coordinates are integers. I will round them.
Green door: (-3, -1)
Red door: (3, 5)
Truck: (-2, 2)
Backpack: (3, 0)
Shoes: (4, -4)
Chair: (2, -2)
Table: (-6, -2)
Basket: (-6, 0)
Scooter: (-8, 2)
Bike: (-4, 3)

Agent is at Green door (-3, -1) facing East.

FINAL ANSWER:
```json
{
"agent": {"position": [-3, -1], "facing": "east"},
"truck": {"position": [-2, 2], "facing": "east"},
"red door": {"position": [3, 5], "facing": "south"},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [4, -4], "facing": "north"},
"chair": {"position": [2, -2], "facing": "north"},
"green door": {"position": [-3, -1], "facing": "east"},
"table": {"position": [-6, -2]},
"basket": {"position": [-6, 0]},
"scooter": {"position": [-8, 2], "facing": "east"},
"bike": {"position": [-4, 3], "facing": "west"}
}
```

THINK:
I need to construct the JSON map based on my observations.

**Agent State:**
- Initial: (0,0) facing North.
- Rotated 90 (East), Rotated 90 (South), Rotated 90 (West). Jumped to green door.
- Jumped to table. Rotated 90 (North), Rotated 90 (East), Rotated 90 (South).
- Rotated -90 (East), Jum...

{
  "agent": {
    "position": [
      -3,
      -1
    ],
    "facing": "east"
  },
  "truck": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      3,
      5
    ],
    "facing": "south"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -4
    ],
    "facing": "north"
  },
  "chair": {
    "position": [
      2,
      -2
    ],
    "facing": "north"
  },
  "green door": {
    "position": [
      -3,
      -1
    ],
    "facing": "east"
  },
  "table": {
    "position": [
      -6,
      -2
    ]
  },
  "basket": {
    "position": [
      -6,
      0
    ]
  },
  "scooter": {
    "position": [
      -8,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      -4,
      3
    ],
    "facing": "west"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  }
}

THINK:
I am currently at the green door, facing East (into Room 1).
Observations:
- chair: front-slight-right, mid distance, facing left.
- Direction: front-slight-right (angle ~10-20 deg right).
- Distance: mid (2-4m). Let's estimate (1, 3) or (1, 4).
- Facing: left. In local frame (facing +y), left is -x.
- Wait, if I am facing East, "facing left" means facing North. In local frame, "facing left" means facing -x.
- backpack: front-slight-left, slightly far, facing right.
- Direction: front-slight-left (~10-20 deg left).
- Distance: slightly far (4-8m). Let's estimate (-2, 5).
- Facing: right (+x).
- shoes: front-slight-right, slightly far, facing left.
- Direction: front-slight-right.
- Distance: slightly far (4-8m). Let's estimate (2, 5).
- Facing: left (-x).
- red door: front-left, slightly far, on left wall.
- Direction: front-left (~45 deg left).
- Distance: slightly far (4-8m).
- Position: on left wall. This means it's roughly at (-x, y). Let's say (-3, 3) or similar.
- Facing: It's a door, orientation usually implied by wall. Left wall faces right (+x).

Local Map Frame:
Origin: agent (green door)
+y: East (forward)
+x: South (right)
-x: North (left)
-y: West (backward)

Estimating coordinates (y is forward distance, x is right distance):
- chair: front-slight-right -> +y, +x. "mid" -> y~3, x~1. Facing: left -> -x (relative to agent).
- backpack: front-slight-left -> +y, -x. "slightly far" -> y~5, x~-1. Facing: right -> +x.
- shoes: front-slight-right -> +y, +x. "slightly far" -> y~5, x~2. Facing: left -> -x.
- red door: front-left -> +y, -x. "slightly far". On left wall. y~4, x~-4. Facing: +x (from wall into room).

Let's refine coordinates based on standard grid spacing if possible, but estimations are sufficient.
Chair: mid distance (2-4). front-slight-right. Maybe (1, 3).
Backpack: slightly far (4-8). front-slight-left. Maybe (-1, 5).
Shoes: slightly far (4-8). front-slight-right. Maybe (2, 6).
Red door: slightly far (4-8). front-left. Maybe (-4, 4).

Wait, the prompt asks for coordinates relative to the agent *at time of writing*.
"position": [x, y]
"facing": "+x|-x|+y|-y"

Let's stick to the relative descriptions.

FINAL ANSWER:
{
"origin": "agent",
"objects": {
"chair": {"position": [1, 3], "facing": "-x"},
"backpack": {"position": [-2, 6], "facing": "+x"},
"shoes": {"position": [2, 7], "facing": "-x"},
"red door": {"position": [-4, 4], "facing": "+x"}
}
}

THINK:
I am currently at the green door, facing East (into Room 1).
Observations:
- chair: front-slight-right, mid distance, facing left.
- Direction: front-slight-right (angle ~10-20 deg right).
- Distance: mid (2-4m). Let's estimate (1, 3) or (1, 4).
- Facing: left. In local frame (facing +y...

{
  "origin": "agent",
  "objects": {
    "chair": {
      "position": [
        1,
        3
      ],
      "facing": "-x"
    },
    "backpack": {
      "position": [
        -2,
        6
      ],
      "facing": "+x"
    },
    "shoes": {
      "position": [
        2,
        7
      ],
      "facing": "-x"
    },
    "red door": {
      "position": [
        -4,
        4
      ],
      "facing": "+x"
    }
  }
}

{
  "shoes": {
    "position": [
      1,
      6
    ],
    "facing": "north"
  },
  "backpack": {
    "position": [
      -1,
      5
    ],
    "facing": "south"
  },
  "chair": {
    "position": [
      1,
      3
    ],
    "facing": "north"
  },
  "red door": {
    "position": [
      -5,
      6
    ],
    "facing": "north"
  }
}

{
  "origin": "agent",
  "objects": {
    "chair": {
      "position": [
        1,
        3
      ],
      "facing": "-x"
    },
    "backpack": {
      "position": [
        -2,
        6
      ],
      "facing": "+x"
    },
    "shoes": {
      "position": [
        2,
        7
      ],
      "facing": "-x"
    },
    "red door": {
      "position": [
        -4,
        4
      ],
      "facing": "+x"
    }
  }
}

You rotated counterclockwise 90°. You jumped to green door. You observe:
• chair: front-slight-right, mid distance, facing left
• backpack: front-slight-left, slightly far, facing right
• shoes: front-slight-right, slightly far, facing left
• red door: front-left, slightly far, on left wall.
You have a maximum of 10 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You rotated counterclockwise 90°. You jumped to green door. You observe:
• chair: front-slight-right, mid distance, facing left
• backpack: front-slight-left, slightly far, facing right
• shoes: front-slight-right, slightly far, facing left
• red door: front-left, slightly far, on left wall.
You ha...

I am at the green door (West wall of Room 1), facing East.
I see:
- chair: front-slight-right (SE)
- backpack: front-slight-left (NE)
- shoes: front-slight-right (SE)
- red door: front-left (NE/North wall)

I need to explore Room 3, which is behind the red door.
The red door is in my FOV ("front-left").
I can jump to the red door.
I am currently facing East. The red door is on the "left wall" (North).
Jumping to the red door maintains orientation (East).
At the red door, facing East, I will look along the North wall.
I should probably rotate to look *through* the door into Room 3.
If the door connects Room 1 (South) and Room 3 (North), then looking North enters Room 3.
If I am at the red door facing East, I am looking sideways relative to the door opening.
I should rotate -90 (to face North) to look into Room 3.

Plan: Jump to red door, Rotate -90 (face North), Observe.

I am at the green door (West wall of Room 1), facing East.
I see:
- chair: front-slight-right (SE)
- backpack: front-slight-left (NE)
- shoes: front-slight-right (SE)
- red door: front-left (NE/North wall)

I need to explore Room 3, which is behind the red door.
The red door is in my FOV ("front-lef...

THINK:
I need to construct a global map of all observed objects and my current position.

**Coordinate System Inference:**
- Initial Agent: (0,0), facing North (+y).
- **Room 1:**
- `truck`: front-left (NW) from (0,0,N). Let's guess coordinates. "mid distance" (2-4m). Say (-2, 2) or (-3, 3).
- `red door`: front-right from (0,0,N) -> NE. "slightly far" (4-8m).
- From (0,0,E): `red door` is front-left (NE). Confirms NE.
- From (0,0,E): `backpack` front (E), mid. Say (3, 0). `shoes` front-right (SE), slightly far. Say (4, -2).
- From (0,0,S): `chair` front-left (SE), mid. Confirms SE.
- From (0,0,W): `green door` front-left (SW), mid.
- Let's refine based on "green door" Jump.
- JumpTo(green door): Agent moves to Green Door.
- From Green Door (facing E), `red door` is front-left (NE). `chair` front-right (SE). `backpack` front-left (NE).
- From Green Door (facing W, into Room 2): `scooter` front-right (NW), `table` front-left (SW).
- From `table` (facing N): `bike` front-right (NE), `scooter` front-left (NW), `basket` front (N).
- From `table` (facing E): `green door` front-left (NE).
- This suggests `table` is South-West of `green door`.
- JumpTo `red door` from `green door`.
- At `red door`, facing N (into Room 3).
- Observations: `television` (NW), `airplane` (NW), `wine` (NW), `shoppingcart` (NE).

**Let's try to assign integer coordinates.**
Reference: Initial (0,0) facing N.
Observations from (0,0):
- Truck: NW.
- Red Door: NE, on North Wall. Maybe y=4 or y=5? Let's say (2, 4).
- Backpack: E. (3,0)?
- Shoes: SE. (3,-3)?
- Chair: SE. (1,-2)?
- Green Door: SW, on West Wall. (-2, -1)? Or (-3, 0)?
- From (0,0) facing W, Green Door is front-left (SW). Distance mid (2-4). Maybe (-3, -1).

Let's use the observations from specific positions.
1. **At Green Door (GD)**:
- Facing East: see Red Door (RD) at front-left (NE).
- GD is likely on the West wall of Room 1. Let's place GD at (-4, 0) for example.
- If GD is at (-4, 0), facing E. RD at front-left means RD has y > 0 and x > -4.
- If RD is at (2, 4). Relative to (-4,0): dx=6, dy=4. Angle = atan(4/6) ~ 33 deg. Front-left is [0, 45]. Matches.
- Chair (SE). Relative to (-4,0): need y < 0, x > -4.
- Backpack (NE). Relative to (-4,0): y > 0, x > -4.

2. **Room 2**:
- GD connects Room 1 and Room 2. So GD is at the East wall of Room 2.
- At GD facing W (into R2):
- Table: front-left (SW).
- Scooter: front-right (NW).
- Jump to Table.
- From Table facing N:
- Basket: front (N).
- Bike: front-right (NE).
- Scooter: front-left (NW).
- From Table facing E:
- GD: front-left (NE).
- Let's place Table relative to GD.
- GD at (-4,0).
- Table is SW of GD. Say (-7, -3).
- Check: From Table (-7,-3) facing E -> GD (-4,0) is dx=3, dy=3. Angle 45 deg left. Front-left. Matches.
- Check: From GD (-4,0) facing W -> Table (-7,-3) is dx=-3, dy=-3. Front-left. Matches.
- From Table (-7,-3) facing N:
- Basket (N). Maybe (-7, -1).
- Scooter (NW). Maybe (-9, -1).
- From GD (facing W), Scooter (NW) -> y>0, x<-4. Say (-6, 2).
- From Table (-7,-3) facing N, Scooter (-6,2) is dx=1, dy=5. NE? Wait.
- "scooter: front-left, slightly far". Front-left of North is NW. So x < -7.
- Let's reconsider Scooter position.
- From GD (-4,0) facing W: Scooter is Front-Right (NW). x<-4, y>0.
- From Table (-7,-3) facing N: Scooter is Front-Left (NW). x<-7, y>-3.
- Intersection: x < -7, y > 0. Let's say (-8, 2).
- Bike: Front-Right from Table (NE). x > -7, y > -3. Say (-5, 1).

3. **Room 3**:
- Connected via Red Door (RD).
- RD is on North Wall of Room 1. Let's fix RD at (2, 4).
- Agent at RD facing N (into R3).
- Observed:
- ShoppingCart: front-right (NE). x > 2, y > 4.
- Television: front-left (NW). x < 2, y > 4.
- Wine: front-left (NW). x < 2, y > 4.
- Airplane: front-slight-left (NW/N). x < 2, y > 4.
- Proximity: "televison is south, near to wine", "airplane is east, near to wine".
- NOTE: The proximity description says "Assume your current facing direction is called 'north'".
- Current facing is N (Global North). So "television is south of wine" means Wine is North of TV.
- "airplane is east of wine".
- Layout: Wine is (xw, yw). TV is (xw, yw-d). Airplane is (xw+d, yw).
- All are front-left (NW) from RD (2,4) except maybe Airplane/Cart.
- Actually "airplane: front-slight-left". Closer to N.
- "shoppingcart: front-right". NE.
- "televison: front-left". NW.
- "wine: front-left". NW.
- Let's estimate coordinates for R3.
- RD at (2,4).
- ShoppingCart: (4, 7).
- Wine: (-1, 8).
- TV: (-1, 7). (South of Wine).
- Airplane: (0, 8). (East of Wine).
- Check angles from RD (2,4) facing N:
- Cart (4,7): dx=2, dy=3. Angle ~33 deg. Front-Right. OK.
- TV (-1,7): dx=-3, dy=3. Angle -45 deg. Front-Left. OK.
- Wine (-1,8): dx=-3, dy=4. Angle -37 deg. Front-Left. OK.
- Airplane (0,8): dx=-2, dy=4. Angle -26 deg. Front-Left/Slight-Left. OK.

**Coordinate Estimation Summary:**
Agent: At Red Door (2,4), facing North.
Room 1 (Center ~ 0,0):
- Truck: NW of (0,0). (-2, 2).
- Backpack: E of (0,0). (3, 0).
- Shoes: SE of (0,0). (3, -3).
- Chair: SE of (0,0). (1, -2).
- Green Door: SW of (0,0). (-4, 0). (Adjusted to be on wall).
- Red Door: NE of (0,0). (2, 4).

Room 2 (West of GD):
- GD: (-4, 0).
- Table: SW of GD. (-7, -3).
- Basket: N of Table. (-7, -1).
- Scooter: NW of Table. (-9, 2).
- Bike: NE of Table. (-5, 1).

Room 3 (North of RD):
- RD: (2, 4).
- Shopping Cart: NE of RD. (4, 7).
- Wine: NW of RD. (-1, 8).
- TV: S of Wine. (-1, 7).
- Airplane: E of Wine. (0, 8).

Current Agent Position: (2, 4) (at red door).
Current Facing: North.

Wait, did I query anything? No. Just observed. Coordinates are estimates.
Constraint: "Map of the environment".
I should provide the JSON.

Check Facings:
- Truck: facing right (East).
- Backpack: facing right (South? No. "facing right" relative to agent facing East -> South. Relative to agent facing North -> East).
- Let's trace facings.
- Observation 1 (Agent N): "truck... facing right". Truck faces East.
- Observation 2 (Agent E): "backpack... facing right". Agent faces E. Right is S. Backpack faces South.
- Observation 2 (Agent E): "shoes... facing left". Agent faces E. Left is N. Shoes face North.
- Observation 3 (Agent S): "chair... facing backward". Agent faces S. Backward is N. Chair faces North.
- Observation 5 (Jump to GD, Agent W): "scooter... facing backward". Agent faces W. Backward is E. Scooter faces East.
- Observation 7 (Jump to Table, Agent N): "bike... facing left". Agent faces N. Left is W. Bike faces West.
- Observation 7 (Agent N): "scooter... facing right". Agent faces N. Right is E. Scooter faces East. (Consistent).
- Observation 9 (Jump to GD, Agent E): "chair... facing left". Agent faces E. Left is N. Chair faces North. (Consistent).
- Observation 9: "backpack... facing right". Agent faces E. Right is S. Backpack faces South. (Consistent).
- Observation 9: "shoes... facing left". Agent faces E. Left is N. Shoes faces North. (Consistent).
- Observation 10 (Jump to RD, Agent N): "shoppingcart... facing backward". Agent faces N. Backward is S. Cart faces South.
- Observation 10: "television... facing left". Agent faces N. Left is W. TV faces West.
- Observation 10: "airplane... facing left". Agent faces N. Left is W. Airplane faces West.

Summary of Facings:
- Truck: East
- Backpack: South
- Shoes: North
- Chair: North
- Scooter: East
- Bike: West
- ShoppingCart: South
- Television: West
- Airplane: West

Summary of Positions (Integer approximations):
- Agent: [2, 4]
- Red Door: [2, 4] (Agent is here). Note: Door objects are usually walls. Agent is "at" the door.
- Green Door: [-4, 0]
- Truck: [-2, 2]
- Backpack: [3, 0]
- Shoes: [3, -3]
- Chair: [1, -2]
- Table: [-7, -3]
- Basket: [-7, -1]
- Scooter: [-8, 2]
- Bike: [-5, 1]
- Shopping Cart: [4, 7]
- Wine: [-1, 8]
- Television: [-1, 7]
- Airplane: [0, 8]

Note on "wine": "televison is south, near to wine". Wine is N of TV. TV is (-1, 7), Wine is (-1, 8). Correct.
"airplane is east, near to wine". Airplane is E of Wine. Wine is (-1, 8), Airplane is (0, 8). Correct.

One detail: "wine" facing is not mentioned in observation 10 ("facing left" applies to TV and Airplane). Wait.
"wine: front-left, slightly far". No facing specified.
Only include facing if observed.

Final check on coordinate logic consistency with observations:
- R1: (0,0) Origin.
- Truck (-2,2): NW. Dist sqrt(8)=2.8 (Mid). OK.
- Backpack (3,0): E. Dist 3 (Mid). OK.
- Shoes (3,-3): SE. Dist sqrt(18)=4.2 (Slightly far). OK.
- Chair (1,-2): SE. Dist sqrt(5)=2.2 (Mid). OK.
- RD (2,4): NE. Dist sqrt(20)=4.5 (Slightly Far). OK.
- GD (-4,0): W. Dist 4 (Mid/Slightly Far). Observation said "mid distance" from (0,0) facing W? No, "mid distance" was observed in step 4. Wait.
- Step 4 (Face W): "green door: front-left, mid distance".
- Front-left of W is SW.
- If GD is (-2, -1). Dist sqrt(5)=2.2. Mid.
- Let's adjust GD to (-2, -1).
- Check R2 with GD=(-2,-1).
- GD (facing W) -> Table (SW). Table maybe (-4, -3).
- Table (facing N) -> GD (NE). OK.
- Table (facing N) -> Scooter (NW). Scooter maybe (-5, 1).
- Table (facing N) -> Bike (NE). Bike maybe (-3, 0).
- Table (-4,-3) -> Basket (N). Basket (-4, -1).
- GD (facing W) -> Scooter (-5,1). Relative to (-2,-1): dx=-3, dy=2.
- Facing W, x is forward (-), y is right (+).
- (-3, 2) is Forward-Right. i.e. Front-Right. Matches "scooter: front-right".
- This fits better.
- Check GD (facing E) -> RD (2,4).
- Relative to (-2,-1): dx=4, dy=5.
- Facing E, x is forward (+), y is left (+).
- (4, 5) is Forward-Left. Matches "red door: front-left".
- Check GD (facing E) -> Chair (1,-2).
- Relative to (-2,-1): dx=3, dy=-1.
- (3, -1) is Forward-Right. Matches "chair: front-slight-right".
- Check GD (facing E) -> Backpack (3,0).
- Relative to (-2,-1): dx=5, dy=1.
- (5, 1) is Forward-Left. Matches "backpack: front-slight-left".
- Check GD (facing E) -> Shoes (3,-3).
- Relative to (-2,-1): dx=5, dy=-2.
- (5, -2) is Forward-Right. Matches "shoes: front-slight-right".

Revised Coordinates with GD = (-2, -1):
- Green Door: [-2, -1]
- Red Door: [2, 4]
- Table: [-4, -3]
- Basket: [-4, -1]
- Scooter: [-5, 1]
- Bike: [-3, 0] (Wait, Bike is "front-right" from Table (-4,-3) facing N. NE. (-3, 0) is NE. Also "facing left" -> West).
- Check bike from GD (facing W). Not seen. Maybe occluded or outside FOV?
- From GD (-2,-1) facing W: Bike (-3,0) is dx=-1, dy=1. Front-Right.
- Observation 5 (Jump to GD) saw "scooter... basket... table...". No bike. Maybe slightly far/occluded.
- Observation 7 (at Table) saw Bike.
- Room 3 stays relative to RD (2,4).
- Cart: [4, 7]
- TV: [-1, 7]
- Wine: [-1, 8]
- Airplane: [0, 8]

These coordinates seem robust.

FINAL ANSWER:
```json
{
"agent": {"position": [2, 4], "facing": "north"},
"truck": {"position": [-2, 2], "facing": "east"},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [3, -3], "facing": "north"},
"chair": {"position": [1, -2], "facing": "north"},
"green door": {"position": [-2, -1]},
"red door": {"position": [2, 4]},
"table": {"position": [-4, -3]},
"basket": {"position": [-4, -1]},
"scooter": {"position": [-5, 1], "facing": "east"},
"bike": {"position": [-3, 0], "facing": "west"},
"shoppingcart": {"position": [4, 7], "facing": "south"},
"televison": {"position": [-1, 7], "facing": "west"},
"wine": {"position": [-1, 8]},
"airplane": {"position": [0, 8], "facing": "west"}
}
```

THINK:
I need to construct a global map of all observed objects and my current position.

**Coordinate System Inference:**
- Initial Agent: (0,0), facing North (+y).
- **Room 1:**
- `truck`: front-left (NW) from (0,0,N). Let's guess coordinates. "mid distance" (2-4m). Say (-2, 2) or (-3, 3).
- `...

{
  "agent": {
    "position": [
      2,
      4
    ],
    "facing": "north"
  },
  "truck": {
    "position": [
      -2,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      3,
      -3
    ],
    "facing": "north"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "green door": {
    "position": [
      -2,
      -1
    ]
  },
  "red door": {
    "position": [
      2,
      4
    ]
  },
  "table": {
    "position": [
      -4,
      -3
    ]
  },
  "basket": {
    "position": [
      -4,
      -1
    ]
  },
  "scooter": {
    "position": [
      -5,
      1
    ],
    "facing": "east"
  },
  "bike": {
    "position": [
      -3,
      0
    ],
    "facing": "west"
  },
  "shoppingcart": {
    "position": [
      4,
      7
    ],
    "facing": "south"
  },
  "televison": {
    "position": [
      -1,
      7
    ],
    "facing": "west"
  },
  "wine": {
    "position": [
      -1,
      8
    ]
  },
  "airplane": {
    "position": [
      0,
      8
    ],
    "facing": "west"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  }
}

THINK:
I am at the red door, facing North. This door connects Room 1 (South) to Room 3 (North).
I am looking into Room 3.
Observations:
- television: front-left, slightly far, facing left
- airplane: front-slight-left, slightly far, facing left
- wine: front-left, slightly far
- shoppingcart: front-right, mid distance, facing backward

Also proximity info:
- "televison is south, near to wine"
- "airplane is east, near to wine"

Wait, the proximity relations are given assuming "current facing direction is called north".
So:
- Agent is facing North (Global North).
- Television is South of Wine.
- Airplane is East of Wine.

Distance bins:
- mid distance: (2, 4] -> let's say 3 or 4.
- slightly far: (4, 8] -> let's say 5, 6, 7.

Let's estimate coordinates relative to Agent (0,0, facing +y).
Agent at (0,0).
"television: front-left, slightly far". Front-left is -45 to -22.5 deg. Slightly far is ~6.
Let's approximate: x negative, y positive.
"wine: front-left, slightly far". Similar to TV.
"airplane: front-slight-left, slightly far". Front-slight-left is -22.5 to 0. Closer to Y-axis.
"shoppingcart: front-right, mid distance". Front-right is 22.5 to 45. Mid distance is ~3.

Let's refine using proximity:
Wine is the anchor.
TV is South of Wine. (So TV.y < Wine.y, TV.x ~ Wine.x)
Airplane is East of Wine. (So Airplane.x > Wine.x, Airplane.y ~ Wine.y)

This matches the egocentric descriptions:
- Wine: front-left (-x, +y far).
- TV: front-left (same sector). If TV is South of Wine, it is "behind" Wine relative to North. But Agent is South looking North. So TV is closer to Agent than Wine? Or just lower Y.
- If TV is South of Wine, then TV.y < Wine.y.
- Both are front-left. So both x < 0, y > 0.
- Airplane: front-slight-left. This is to the right of "front-left".
- Airplane is East of Wine. Correct (Airplane.x > Wine.x).
- Airplane is "slightly far" as well.

Shopping cart: front-right (+x, +y).
Facing backward:
- TV facing left (-x).
- Airplane facing left (-x).
- Shopping cart facing backward (-y).

Let's assign some coordinates.
Agent: (0,0). Facing +y.
Shopping cart: mid distance (3-4). Front-right (+x, +y). Maybe (2, 3)?
Wine: slightly far (5-7). Front-left (-x, +y). Maybe (-3, 6)?
TV: South of Wine. Near (<=2). So TV at (-3, 4)?
- Check TV: front-left, slightly far. distance((-3,4)) = 5. Matches.
- Check Wine: front-left, slightly far. distance((-3,6)) = 6.7. Matches.
Airplane: East of Wine. Near. So Airplane at (-1, 6)?
- Check Airplane: front-slight-left. Angle atan(-1/6) is small left. Matches.
- Distance sqrt(1+36) = 6. Matches slightly far.

So:
Wine: (-3, 6)
TV: (-3, 4), facing left (-x)
Airplane: (-1, 6), facing left (-x)
Shopping cart: (2, 3), facing backward (-y)

Wait, I missed the truck in Room 1? No, I am observing Room 3 now. The truck was in Room 1.
The "Local Cognitive Map" should only include objects in the *current* field of view.
So: television, airplane, wine, shoppingcart.

Facing directions:
- TV: facing left (-x)
- Airplane: facing left (-x)
- Shopping cart: facing backward (-y)

Coordinates (Local Frame, Agent at 0,0, Facing +y):
- shoppingcart: [2, 3], facing "-y"
- wine: [-3, 6]
- televison: [-3, 4], facing "-x"
- airplane: [-1, 6], facing "-x"

Let's double check orientations.
"televison ... facing left". Agent faces +y. Left is -x. Correct.
"airplane ... facing left". Correct.
"shoppingcart ... facing backward". Backward is -y. Correct.

FINAL ANSWER:
```json
{
"origin": "agent",
"objects": {
"shoppingcart": {"position": [2, 3], "facing": "-y"},
"wine": {"position": [-3, 6]},
"televison": {"position": [-3, 4], "facing": "-x"},
"airplane": {"position": [-1, 6], "facing": "-x"}
}
}
```

THINK:
I am at the red door, facing North. This door connects Room 1 (South) to Room 3 (North).
I am looking into Room 3.
Observations:
- television: front-left, slightly far, facing left
- airplane: front-slight-left, slightly far, facing left
- wine: front-left, slightly far
- shoppingcart: front-...

{
  "origin": "agent",
  "objects": {
    "shoppingcart": {
      "position": [
        2,
        3
      ],
      "facing": "-y"
    },
    "wine": {
      "position": [
        -3,
        6
      ]
    },
    "televison": {
      "position": [
        -3,
        4
      ],
      "facing": "-x"
    },
    "airplane": {
      "position": [
        -1,
        6
      ],
      "facing": "-x"
    }
  }
}

{
  "televison": {
    "position": [
      -3,
      4
    ],
    "facing": "west"
  },
  "airplane": {
    "position": [
      -1,
      6
    ],
    "facing": "west"
  },
  "wine": {
    "position": [
      -3,
      6
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      1,
      2
    ],
    "facing": "south"
  }
}

{
  "origin": "agent",
  "objects": {
    "shoppingcart": {
      "position": [
        2,
        3
      ],
      "facing": "-y"
    },
    "wine": {
      "position": [
        -3,
        6
      ]
    },
    "televison": {
      "position": [
        -3,
        4
      ],
      "facing": "-x"
    },
    "airplane": {
      "position": [
        -1,
        6
      ],
      "facing": "-x"
    }
  }
}

{
  "televison": {
    "position": [
      -3,
      4
    ],
    "facing": "west"
  },
  "airplane": {
    "position": [
      -1,
      6
    ],
    "facing": "west"
  },
  "wine": {
    "position": [
      -3,
      6
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      1,
      2
    ],
    "facing": "south"
  }
}

THINK:
I am currently at the red door (which connects Room 1 and Room 3). Room 1 is to the South, Room 3 is to the North.
My current position is marked with `*` on the map. This corresponds to the red door.
I am facing North.
The map shows Room 1 (bottom area) and Room 3 (top area).
Room 1 has been explored.
Room 3 is the area North of the red door.
I just observed Room 3 facing North.
My observation:
- televison: front-left (NW)
- airplane: front-slight-left (NW/N)
- wine: front-left (NW)
- shoppingcart: front-right (NE)

The map shows candidates A, B, C, D, E, F in the northern room (Room 3).
The agent `*` is at the door. Facing North.
FOV is 90 degrees (North-West to North-East).
Points A, B, C, D, E, F are in Room 3.
Let's analyze their positions relative to `*`:
- C is to the East-North-East? No, C looks like it's to the right (East) and slightly North.
- F is North, slightly East.
- E is North.
- D is North, further up.
- B is North-West.
- A is far North-West.

My observation covered "front-left" (NW) and "front-right" (NE).
Objects observed: television, airplane, wine (left side), shoppingcart (right side).
I should have seen the area covered by my FOV.
The candidates are points that might be "unexplored".
Usually, the area directly in front and visible is explored.
Points very far or occluded might be unexplored.
The map shows `.` for floor. The letters are on floor tiles.
Let's look at the coordinates visually.
`*` is at the door.
Facing North covers a cone.
F, E, D are in the central cone (North).
B is to the left (West).
C is to the right (East).
A is far North-West.

Observation details:
- television: front-left, slightly far.
- airplane: front-slight-left, slightly far.
- wine: front-left, slightly far.
- shoppingcart: front-right, mid distance.

"Slightly far" is distance bin (4, 8].
"Mid distance" is (2, 4].

The map grid seems to represent the rooms.
If `*` is at the door, the area immediately North should be visible.
F and E are likely visible.
D is further North.
C is to the East. My FOV covers North-East (front-right). Shoppingcart was seen there (mid distance). C is likely visible.
B is to the West. Television/wine/airplane were seen front-left (slightly far). B is likely visible.
A is far North-West. Might be outside FOV or too far ("slightly far" is up to 8 units). "Very far" is >16.
However, if A is deep in the corner or blocked, it might be unexplored.
Looking at the map structure:
The room seems to extend North.
My observation covered NW and NE.
Is there anything I missed?
Maybe the corners?
Let's consider what counts as "unexplored".
If I observed from the door, I saw the main area.
However, I haven't been *to* those locations.
But the task asks for "located in unexplored/unobserved regions".
If I observed them, they are observed.
Are any of these points *behind* something or outside the 90 degree cone?
Facing North:
Cone is -45 to +45 degrees.
(0,0) relative to agent is agent.
(0, y) is North.
(x, y) with |x| <= y is in FOV.
Let's estimate coordinates from map.
Agent at x=approx center, y=door.
C: x is right, y is up. Angle seems < 45 deg. Visible.
F: x is slightly left?, y is up. Visible.
E: x is slightly left?, y is up. Visible.
D: x is left, y is up. Visible.
B: x is more left, y is up. Angle might be close to 45.
A: x is far left, y is far up.
Wait, looking at the map:
The wall on the left of Room 3 seems to go straight up from the door level? No, Room 3 is wider than the door.
The door is at a specific x.
B is quite to the left.
A is very far left and up.
If I face North, my FOV is +/- 45 degrees.
Points with x < -y (relative to agent) are outside FOV (on the left).
Let's trace diagonals from `*`.
Diagonal to the left (NW): goes through F? No, F is close.
Diagonal to the right (NE): goes towards C.
B looks like it might be to the left of the NW diagonal (beyond -45 deg).
A is definitely to the left of the NW diagonal? Or maybe inside.
Let's look at the "fog" aspect.
Usually, points not in the current or previous FOVs are unexplored.
I have only looked North from the door.
FOV is 90 degrees.
Points strictly to the West (left of the agent) or East (right of the agent) are NOT visible if they are not in the forward cone.
Looking at the map:
`*` is at the door.
Room 3 expands to the left (West).
B and A are in the western part of the room.
If I face North, I see NW, N, NE.
If B is "West" rather than "North-West", I miss it.
On the map:
The row with B is ` #########BD....# `.
The agent is 3 rows down from F? No.
Let's count rows up from `*`:
Row 1: ` #########.F.C..# ` (F is left, C is right)
Row 2: ` #########.E....# `
Row 3: ` #########BD....# ` (B is left, D is center-right)
Row 4: ` #########......# `
Row 5: ` #########A.....# `

Agent `*` is at the door.
Coordinates of `*`: Let's say (x_a, y_a).
C is at (x_a + 2, y_a + 1)? (Visual guess). Angle = atan(2/1) > 45. BLOCKED/OUT OF FOV.
Wait, if C is (2,1) relative to agent, angle is ~63 degrees. FOV is 45. So C is NOT visible.
F is at (x_a - 1, y_a + 1)? Angle = atan(1/1) = 45. Boundary. Visible?
E is at (x_a - 1, y_a + 2)? Angle = atan(1/2) = 26. Visible.
D is at (x_a + 1, y_a + 3)? Angle = 18. Visible.
B is at (x_a - 3?, y_a + 3)? (Hard to tell horizontal spacing).
If B is (x_a - 3, y_a + 3), angle is 45. Visible.
If B is (x_a - 4, y_a + 3), angle > 45. Not visible.
A is at (x_a - 3, y_a + 5). Angle < 45. Visible.

Let's re-evaluate C.
Row above agent: ` .F.C.. `.
Agent is under the space between F and C?
Map: ` #############*## `
The door is at a specific column.
The room above has floor ` .F.C.. `.
It seems C is 2 steps right and 1 step up. Angle > 45. Unexplored.
F is 1 step left and 1 step up. Angle = 45. Visible (probably).

What about the "fog"?
I observed:
- television: front-left
- airplane: front-slight-left
- wine: front-left
- shoppingcart: front-right (mid distance)
- C is in the front-right direction (NE).
If shoppingcart is at front-right (angle 22.5 to 45), then C might be visible if it's the shoppingcart or near it.
But C is a candidate point. If it was covered by "shoppingcart" observation, it's observed.
However, pure coordinates: if C is at > 45 degrees, I can't see it.
From `*` to C: likely > 45 deg.
From `*` to B: likely < 45 deg or boundary.
From `*` to A: likely < 45 deg.

Also consider occlusions.
I see "television" etc to the left.
I see "shoppingcart" to the right.
The shoppingcart is "mid distance" (2-4m).
C is close (1 row up).
If C is > 45 deg, it's invisible.
If I'm at the door, facing North, I can't see the corners directly left and right.
Room 3 seems to extend both West and East.
C is in the East corner. B/A in the West.
A is far away.
The "fog" usually covers things not yet seen.
Given the narrow FOV (90 deg), the side areas (East/West parts of the room near the door) are blind spots.
C is in the near East blind spot.
B might be in the near West blind spot? No, B is 3 rows up. Angle improves with distance.
Near points at high angles are the hardest to see.
C is definitely a candidate for "unexplored".
A is far North-West. I saw "television", "airplane", "wine" in front-left. They are "slightly far".
A might be observed.

Let's look at A.
Row 5 up.
It is aligned with B roughly?
A seems deep in the room.
Is A unexplored?
If I saw objects there, maybe the space is observed.
But usually, map exploration requires visiting or seeing clearly.
I'll bet on C being unexplored because of the high angle.
What about A?
If I saw objects in "front-left" (which includes A's direction), maybe A is observed.
However, B is also on the left.
Let's check the labels.
C is definitely to the side.
B is somewhat to the side.
A is far.

Let's assume the question asks for points that are strictly "unobserved" (foggy).
If I look North, I clear the cone.
C is likely outside the cone.
B is likely inside or boundary.
A is likely inside.
D, E, F are inside.

So C is the strongest candidate.
What if A is behind an object?
I saw objects.
I'll stick with C being the most likely unobserved region due to FOV constraints.
Actually, let's look at the map again.
Row 1 (above agent): ` .F.C.. `
If agent is at column X.
F is X-1? C is X+2?
If agent is at `*`.
Map row: ` #############*## `
Let's align the `*`.
Above `*` is `#`. Wait.
The map shows:
` #############*## `
` #......+......## ` (Room 1 top?) No, `*` is agent position.
The layout is:
Top: Room 3
Middle: Wall with door `*`?
Bottom: Room 1
The agent `*` is on the wall line.
Above `*` is ` .F.C.. `?
No, the map snippet is:
` #########.F.C..# `
` #############*## `
This implies `*` is on the wall, and the row above it is inside Room 3.
The alignment:
` #############*## `
` .F.C.. ` (shifted?)
No, usually it's a grid.
Let's assume `*` is at col `k`.
Row above: `F` is at `k-2`? `C` is at `k`.
Wait, if `C` is at `k` (directly North), then it's plainly visible (0 degrees).
Let's count characters.
Row with `*`: 13 `#`, `*`, 2 `#`. Length 16. `*` is at index 13 (0-indexed).
Row above: 9 `#`, `.`, `F`, `.`, `C`, `.`, `.`, `#`.
Indices:
0-8: `#`
9: `.`
10: `F`
11: `.`
12: `C`
13: `.`
14: `.`
15: `#`
So `*` is at 13.
`C` is at 12.
`F` is at 10.
Relative to `*` (13, 0):
`C` is at (12, 1). Delta (-1, 1). Angle = atan(-1/1) = -45 deg (Front-Left). Visible (boundary).
`F` is at (10, 1). Delta (-3, 1). Angle = atan(-3/1) = -71 deg. Not Visible (outside FOV).
So `F` is definitely unobserved.
Let's check others.
Row 2 up: ` #########.E....# `
`E` is at index 10?
Row string: `#########.E....#`
0-8: `#`
9: `.`
10: `E`
11-14: `.`
15: `#`
`E` is at 10. Relative to `*` (13, 0): (10, 2). Delta (-3, 2). Angle = atan(-1.5) = -56 deg. Not Visible.

Row 3 up: ` #########BD....# `
`B` at 9? `D` at 10?
String: `#########BD....#`
0-8 `#`
9: `B`
10: `D`
11-14: `.`
15: `#`
`B` at 9. Rel: (9, 3). Delta (-4, 3). Angle = -53 deg. Not Visible.
`D` at 10. Rel: (10, 3). Delta (-3, 3). Angle = -45 deg. Visible (boundary).

Row 5 up: ` #########A.....# `
`A` at 9?
String: `#########A.....#`
9: `A`
Rel: (9, 5). Delta (-4, 5). Angle = -38 deg. Visible.

So, based on FOV +/- 45 degrees:
- C (-45 deg): Visible (boundary).
- F (-71 deg): Unobserved.
- E (-56 deg): Unobserved.
- B (-53 deg): Unobserved.
- D (-45 deg): Visible.
- A (-38 deg): Visible.

Wait, C is at 12, `*` at 13. Delta x = -1. y = 1. Angle -45.
Is -45 included?
"[-45°,-22.5°)→front-left".
Yes, -45 is included.
So C is visible.
F, E, B are outside the cone (to the left).
Why? Because `*` is at 13 (right side of room 3). Room 3 is to the left (West).
Agent faces North (0 deg).
FOV is -45 to +45.
Objects to the West (negative x) with |x| > y are not visible.
F: x=-3, y=1. |-3| > 1. Hidden.
E: x=-3, y=2. |-3| > 2. Hidden.
B: x=-4, y=3. |-4| > 3. Hidden.
D: x=-3, y=3. |-3| = 3. Visible (boundary).
A: x=-4, y=5. |-4| < 5. Visible.
C: x=-1, y=1. |-1| = 1. Visible (boundary).

So candidates for Unexplored: F, E, B.
Maybe D (boundary cases might be tricky).
The map question asks for "unexplored/unobserved regions".
F, E, B are definitely outside the wedge.
A, C, D are inside or on boundary.
I will select F, E, B.
Wait, let's check D again.
`D` is at 10. `*` at 13. dx = -3. dy = 3. Angle -45.
Usually -45 is visible.
What about C? dx = -1. dy = 1. Angle -45. Visible.

Let's check the map alignment again.
`#############*##` (16 chars)
`#########.F.C..#` (16 chars)
Indices match.
Agent at 13.
F at 10. E at 10. D at 10. B at 9. A at 9. C at 12.
Calculations:
F: (-3, 1) -> atan(3) = 71 deg Left. > 45. Unobserved.
E: (-3, 2) -> atan(1.5) = 56 deg Left. > 45. Unobserved.
B: (-4, 3) -> atan(1.33) = 53 deg Left. > 45. Unobserved.
D: (-3, 3) -> atan(1) = 45 deg Left. Boundary. Often visible.
A: (-4, 5) -> atan(0.8) = 38 deg Left. Visible.
C: (-1, 1) -> atan(1) = 45 deg Left. Visible.

Result: B, E, F are definitely unobserved.
The example shows `["A", "C"]`.
I will output `["B", "E", "F"]`.
Maybe `D` too if boundary is exclusive?
"[-45°,-22.5°)" starts at -45 inclusive.
So -45 is visible.
I'll exclude D and C.

Wait, looking at the ASCII map again.
` #########A.....# `
` #########BD....# `
` #########.E....# `
` #########.F.C..# `
` #############*## `
The wall on the left is at index 0-8. Room starts at 9.
Agent at 13.
Room width at agent level is... well, it's a door.
Room 3 width is indices 9-14 (6 tiles wide).
Agent is at 13 (towards the right).
Room extends to the left (9, 10, 11, 12).
Leftmost part is 9. Agent is 13.
Shift is 4.
So points at 9, 10 are quite to the left.
Short range (low y) points at 9, 10 will be outside FOV.
F (10, 1) -> Hidden.
E (10, 2) -> Hidden.
B (9, 3) -> Hidden.
D (10, 3) -> Visible (45 deg).
A (9, 5) -> Visible.
C (12, 1) -> Visible (45 deg).

So B, E, F.

However, consider if I missed any observations?
I just entered Room 3 via observation. I haven't moved into it.
So the "unexplored" regions are the blind spots.
Blind spots: West side (F, E, B) and maybe East side (beyond 45 deg right).
Right side has indices 14, 15(#).
Only index 14 is floor. Agent at 13.
(14, 1) -> dx=1, dy=1 -> 45 deg. Visible.
So East side is visible.
West side is the problem.
So F, E, B.

Are there any other constraints?
"Select the points that are located in unexplored/unobserved regions."
"Unexplored" might mean "I haven't visited".
But usually in these tasks, it means "I haven't seen".
I'll go with B, E, F.

Double check A.
A is at (9, 5). dx=-4, dy=5. angle = 38.6 deg.
Inside 45 deg. Visible.
Unless occluded by B/D?
Ray to A passes through (9.8, 4), (10.6, 3), (11.4, 2), (12.2, 1).
(10.6, 3) is between D(10) and nothing?
D is at 10. Ray passes slightly right of D (10.6).
If D is an object (it's a candidate point, floor), it doesn't block.
Objects: television, airplane, wine, shoppingcart.
Television: front-left, slightly far.
Airplane: front-slight-left, slightly far.
Wine: front-left, slightly far.
Shoppingcart: front-right.

Maybe one of these objects blocks A?
"Front-left" is [-45, -22.5].
"Front-slight-left" is [-22.5, 0].
A is at -38 deg. Front-left.
If television is at front-left, slightly far (4-8m).
A (y=5) is 5m away.
Television might be A? Or near A.
If A is the television, it is observed.
The map asks for candidates in "unexplored/unobserved" regions.
If A is observed (contains an object I saw), it's not unobserved.
But F, E, B are in the blind spot. I didn't see anything there (or couldn't see).
So F, E, B are unobserved.

One more check on D.
D is at (-3, 3). Angle 45.
Is 45 visible? Yes.
So D is visible.

Conclusion: F, E, B.

Wait, looking at the map again...
`#########.F.C..#`
F is at index 10. `.` at 9.
`#########` is 0-8.
So F is correct at 10.
C is at 12.
`*` at 13.
F: dx = -3, dy = 1. Angle > 45. Correct.
E: dx = -3, dy = 2. Angle > 45. Correct.
B: dx = -4, dy = 3. Angle > 45. Correct.
D: dx = -3, dy = 3. Angle = 45. Visible.
A: dx = -4, dy = 5. Angle < 45. Visible.

So B, E, F.

Final Answer seems to be B, E, F.

One thought: C is at 12. `*` at 13.
dx = -1. dy = 1.
This is to the LEFT.
Wait, 12 is less than 13.
So C is to the LEFT (West).
Angle = -45.
So C is Front-Left.
I previously thought C was to the right.
Map: ` .F.C.. `
If `*` is at 13.
12 is left. 10 is left.
Where is right?
14 is right.
Map row has `..` after C.
Indices: 12(C), 13(.), 14(.).
So C is at 12. `.` at 13. `.` at 14.
So directly North of `*` is empty floor (index 13).
C is left. F is left.
Everyone is left except the empty space at 13, 14.
Shoppingcart was "front-right".
Index 14 (dx=1, dy=?) would be front-right.
Or index 13 (dx=0) front.
Shoppingcart must be at index >= 13.
C is at 12 (left).
C is at -45 deg. Visible.
F (10) is at -71 deg. Hidden.
E (10) is at -56 deg. Hidden.
B (9) is at -53 deg. Hidden.
D (10) is at -45 deg. Visible.
A (9) is at -38 deg. Visible.

So F, E, B are hidden.
C, D, A are visible.

Wait, is C visible?
-45 is the limit.
Usually limits are inclusive.
I will assume visible.

So B, E, F.

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

THINK:
I am currently at the red door (which connects Room 1 and Room 3). Room 1 is to the South, Room 3 is to the North.
My current position is marked with `*` on the map. This corresponds to the red door.
I am facing North.
The map shows Room 1 (bottom area) and Room 3 (top area).
Room 1 has been ...

################
#########......#
#########A.....#
#########......#
#########BD....#
#########.E....#
#########.F.C..#
#############*##
#......#......##
#......#......##
#......#......##
#......#......##
#......+......##
#......#......##
################

You jumped to red door. You rotated counterclockwise 90°. You observe:
• televison: front-left, slightly far, facing left
• airplane: front-slight-left, slightly far, facing left
• wine: front-left, slightly far
• shoppingcart: front-right, mid distance, facing backward
Assume your current facing direction is called "north":
• televison is south, near to wine
• airplane is east, near to wine.
You have a maximum of 9 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You jumped to red door. You rotated counterclockwise 90°. You observe:
• televison: front-left, slightly far, facing left
• airplane: front-slight-left, slightly far, facing left
• wine: front-left, slightly far
• shoppingcart: front-right, mid distance, facing backward
Assume your current facing d...

I am at the red door, facing North into Room 3.
I see:
- television: front-left (NW)
- airplane: front-slight-left (NW)
- wine: front-left (NW)
- shoppingcart: front-right (NE)

I have found 4 objects in Room 3: television, airplane, wine, shoppingcart.
Total objects found so far:
Room 1: truck, backpack, shoes, chair (4 objects)
Room 2: scooter, basket, table, bike (4 objects)
Room 3: television, airplane, wine, shoppingcart (4 objects)
Total: 12 objects. The prompt lists 12 objects: 1: truck, 2: televison, 3: bike, 4: chair, 5: airplane, 6: scooter, 7: backpack, 8: shoes, 9: wine, 10: basket, 11: shoppingcart, 12: table.
I have found all 12 objects and 2 doors.
I have explored Room 1 (fully), Room 2 (fully).
I am currently looking into Room 3 (North).
I see NW and NE sectors.
I need to check the full extent of Room 3 to ensure map coverage (walls, potential other doors, though only 2 doors were listed).
I should confirm no other items are hidden.
I haven't "visited" the objects in Room 3 or scanned from inside deeply, but I have seen all target objects.
The goal is "Minimize total COST while building a complete and accurate map".
I have seen all objects.
I should Query to fix positions if "accurate map" requires coordinates, but "Query... High cost". Usually, observations are enough if they cover everything.
However, there might be ambiguity.
The relative positions reported:
"television is south, near to wine"
"airplane is east, near to wine"
These are close proximity relations.
I am at the red door (which is at (0, ~something)).
Room 1 origin (0,0). Red door was North. So red door is at (0, Y_door).
I am looking North into Room 3.
I have seen all objects.
Do I need to check the West/East/North walls of Room 3 more closely?
I see "television: front-left" (NW), "shoppingcart: front-right" (NE).
Room 3 seems to extend North.
I haven't checked "behind" the door frame inside Room 3 (the South corners of Room 3), but I am standing in the doorway.
My FOV is 90 degrees. Facing North covers NW to NE.
If there are objects in the SW or SE corners of Room 3 (flush with the wall I'm in), I wouldn't see them.
But I have accounted for all 12 listed objects.
So I don't need to search for more objects.
I just need to ensure I have enough data to localize them.
I have observations from the door.
Is that enough?
Usually, yes.
I can terminate if I am confident.
Wait, I should verify I haven't missed any parts of the map or connectivity.
The prompt says "Minimize total COST". Steps cost money (Observe=1, Move=0?). No, "Observe and Query action have costs". Move cost is not specified but "Minimize total COST" and "fewest steps". Usually steps count.
Actions: Jump, Rotate are movement. Observe is information.
I have observed all objects.
I will Terminate.

Wait, should I verify the positions?
I have one observation of Room 3 objects from the door.
Distances are "slightly far", "mid distance".
This gives a rough estimate.
Is it "accurate" enough?
With all objects found, the task is likely complete.

Let's double check the list.
1: truck (Room 1) - Found
2: televison (Room 3) - Found
3: bike (Room 2) - Found
4: chair (Room 1) - Found
5: airplane (Room 3) - Found
6: scooter (Room 2) - Found
7: backpack (Room 1) - Found
8: shoes (Room 1) - Found
9: wine (Room 3) - Found
10: basket (Room 2) - Found
11: shoppingcart (Room 3) - Found
12: table (Room 2) - Found

All found.
Doors: Green, Red. Found.
Room connectivity: 1-2 (Green), 1-3 (Red). Confirmed.

I am ready to terminate.

I am at the red door, facing North into Room 3.
I see:
- television: front-left (NW)
- airplane: front-slight-left (NW)
- wine: front-left (NW)
- shoppingcart: front-right (NE)

I have found 4 objects in Room 3: television, airplane, wine, shoppingcart.
Total objects found so far:
Room 1: truck, bac...

THINK:
I need to construct a global map based on the observations.

Initial State:
Agent at (0, 0), facing North.

Observations Room 1 (Origin):
1. **North (facing N):**
* `truck`: front-left, mid distance, facing right. (Roughly (-2, 2) or (-3, 3), facing East).
* `red door`: front-right, slightly far, on front wall. "Front wall" facing North means North wall. Since I am at (0,0), "slightly far" (4-8m). Let's estimate y=5 or 6. "front-right" implies x > 0.
2. **East (facing E):**
* `backpack`: front, mid distance, facing right. (Along x-axis, y~0, x~3, facing South).
* `shoes`: front-right, slightly far, facing left. (front-right from East is SE. x>0, y<0. facing North).
* `red door`: front-left, slightly far, on left wall. Facing East, left is North. Considers with previous obs.
3. **South (facing S):**
* `chair`: front-left, mid distance, facing backward. (front-left from South is SE. x>0, y<0. Facing North). Consistent with shoes area?
4. **West (facing W):**
* `green door`: front-left, mid distance, on front wall. Facing West, front wall is West wall. "front-left" implies SW. So x < 0, y < 0? Wait. "front-left" from West is South-West.
* Later at green door (facing E), it is on West wall of Room 1.
* Later at green door (facing E), looking into Room 1: `chair` (SE), `backpack` (NE), `shoes` (SE). `red door` (Left/North).

Room 2 (West of Room 1):
* Entry via `green door`.
* At green door (facing W): `scooter` (NW), `basket` (W-NW), `table` (W-SW).
* At `table` (facing N): `bike` (NE), `scooter` (NW), `basket` (N).
* At `table` (facing E): `green door` (NE/E).
* Layout: Room 2 is to the West. Objects: table, scooter, basket, bike.

Room 3 (North of Room 1):
* Entry via `red door`.
* At red door (facing N): `television` (NW), `airplane` (NW), `wine` (NW), `shoppingcart` (NE).
* Proximity: `television` is south of `wine`, `airplane` is east of `wine`.

Coordinate Estimation:
Let's fix coordinates. Agent start (0,0).
Room 1 is roughly centered around (0,0) or (0,0) is South-Center?
Red door is North. Green door is West.

**Room 1:**
* `red door`: North wall. Let's say y = 5. x position? From (0,0) facing N, it's front-right. x > 0. From (Green door, West wall) facing E, it's front-left (NE). x > x_green. Let's place Red Door at (2, 5).
* `green door`: West wall. From (0,0) facing W, front-left. So y < 0. Let's say x = -3 (West wall). y = -2. So Green Door at (-3, -2).
* `truck`: front-left from (0,0) facing N. x < 0, y > 0. Say (-2, 3). Facing: Right (East).
* `backpack`: front from (0,0) facing E. x > 0, y ~ 0. "mid distance" (2-4). Say (3, 0). Facing: Right relative to Agent Facing East? Agent faces East. Right is South. Facing South.
* `shoes`: front-right from (0,0) facing E (SE). x > 0, y < 0. Say (3, -3). Facing: Left relative to Agent E? Agent E, Left is N. Facing North.
* `chair`: front-left from (0,0) facing S (SE). x > 0, y < 0. Matches shoes area. Say (2, -4). Facing: Backward relative to Agent S? Agent S. Backward is N. Facing North.

**Room 2:**
* Connected via `green door` at (-3, -2). Room 2 is to the West (x < -3).
* From Green Door (facing W):
* `scooter`: front-right (NW). x < -3, y > -2. Say (-5, 1). Facing: Backward (East).
* `basket`: front-slight-right. x < -3, y > -2 (closer to y=-2). Say (-6, -1).
* `table`: front-slight-left. x < -3, y < -2. Say (-6, -4).
* From `table` (-6, -4) facing N:
* `bike`: front-right (NE). x > -6, y > -4. Say (-4, -1). Facing: Left relative to N? West.
* `scooter`: front-left (NW). (-5, 1) fits direction roughly.
* `basket`: front. (-6, -1) fits.
* `green door`: East. (-3, -2) fits.

**Room 3:**
* Connected via `red door` at (2, 5). Room 3 is North (y > 5).
* From Red Door (facing N):
* `shoppingcart`: front-right (NE). x > 2, y > 5. Say (4, 8). Facing: Backward (South).
* `wine`: front-left (NW). x < 2, y > 5. Say (0, 9).
* `television`: South, near wine. Say (0, 7). Facing: Left relative to N? West.
* `airplane`: East, near wine. Say (1, 9). Facing: Left relative to N? West.

Final Verification of Facings:
* truck: facing right (East).
* backpack: facing right (relative to E -> South).
* shoes: facing left (relative to E -> North).
* chair: facing backward (relative to S -> North).
* scooter: facing backward (relative to W -> East).
* bike: facing left (relative to N -> West).
* shoppingcart: facing backward (relative to N -> South).
* television: facing left (relative to N -> West).
* airplane: facing left (relative to N -> West).

Final Coordinates Summary (approximate integers):
Agent final pos: Red Door (2, 5) or inside Room 3? Last action was `Observe` after `Rotate` at Red Door. So Agent is at Red Door (2, 5). Facing North.

Objects:
1. truck: (-2, 3), east
2. backpack: (3, 0), south
3. shoes: (3, -3), north
4. chair: (2, -4), north
5. green door: (-3, -2)
6. table: (-6, -4)
7. basket: (-6, -1)
8. scooter: (-5, 1), east
9. bike: (-4, -1), west
10. red door: (2, 5)
11. shoppingcart: (4, 8), south
12. wine: (0, 9)
13. television: (0, 7), west
14. airplane: (1, 9), west

Refining positions to be integers on a grid.
Red Door (2, 5).
Green Door (-3, -2).
Truck (-2, 3).
Backpack (3, 0).
Shoes (3, -3).
Chair (2, -4).
Table (-6, -4).
Basket (-6, -1).
Scooter (-5, 1).
Bike (-4, -1).
Shoppingcart (4, 8).
Wine (0, 9).
Television (0, 7).
Airplane (1, 9).

Check distance bins again to refine.
Green door from (0,0) facing W (front-left): (-3, -2) is dist sqrt(9+4)=3.6 (mid distance 2-4). OK.
Red door from (0,0) facing N (front-right): (2, 5) is dist sqrt(4+25)=5.4 (slightly far 4-8). OK.
Truck from (0,0) facing N (front-left): (-2, 3) is dist sqrt(4+9)=3.6 (mid). OK.
Backpack from (0,0) facing E (front): (3, 0) is dist 3 (mid). OK.
Shoes from (0,0) facing E (front-right): (3, -3) is dist 4.2 (slightly far). OK.
Chair from (0,0) facing S (front-left): (2, -4) is dist 4.5 (slightly far). Observed "mid distance". Maybe (1, -2)?
If Chair (1, -2): dist 2.2. Front-left from S (SE). Angle: (1, -2) is SE. Correct.
Let's adjust Chair to closer. (2, -3) -> 3.6m (mid). OK.

Room 2 from Green Door (-3, -2) facing W:
Scooter (-5, 1). dx=-2, dy=3. Dist 3.6 (mid). Observed "slightly far". Maybe (-6, 2)? Dist 5. OK.
Basket (-6, -1). dx=-3, dy=1. Dist 3.1 (mid). OK.
Table (-6, -4). dx=-3, dy=-2. Dist 3.6 (mid). OK.

Room 3 from Red Door (2, 5) facing N:
Shoppingcart (4, 8). dx=2, dy=3. Dist 3.6 (mid). OK.
Wine (0, 9). dx=-2, dy=4. Dist 4.5 (slightly far). OK.
TV (0, 7). dx=-2, dy=2. Dist 2.8. Observed "slightly far". Maybe (-1, 8)? Dist 4.2.
Let's stick to approximate grid.

FINAL ANSWER:
{
"agent": {"position": [2, 5], "facing": "north"},
"truck": {"position": [-2, 3], "facing": "east"},
"red door": {"position": [2, 5]},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [3, -3], "facing": "north"},
"chair": {"position": [2, -3], "facing": "north"},
"green door": {"position": [-3, -2]},
"scooter": {"position": [-6, 2], "facing": "east"},
"basket": {"position": [-6, -1]},
"table": {"position": [-6, -4]},
"bike": {"position": [-4, -1], "facing": "west"},
"shoppingcart": {"position": [4, 8], "facing": "south"},
"wine": {"position": [0, 9]},
"televison": {"position": [0, 7], "facing": "west"},
"airplane": {"position": [1, 9], "facing": "west"}
}

THINK:
I need to construct a global map based on the observations.

Initial State:
Agent at (0, 0), facing North.

Observations Room 1 (Origin):
1. **North (facing N):**
* `truck`: front-left, mid distance, facing right. (Roughly (-2, 2) or (-3, 3), facing East).
* `red door`: front-rig...

{
  "agent": {
    "position": [
      2,
      5
    ],
    "facing": "north"
  },
  "truck": {
    "position": [
      -2,
      3
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      2,
      5
    ]
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      3,
      -3
    ],
    "facing": "north"
  },
  "chair": {
    "position": [
      2,
      -3
    ],
    "facing": "north"
  },
  "green door": {
    "position": [
      -3,
      -2
    ]
  },
  "scooter": {
    "position": [
      -6,
      2
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -6,
      -1
    ]
  },
  "table": {
    "position": [
      -6,
      -4
    ]
  },
  "bike": {
    "position": [
      -4,
      -1
    ],
    "facing": "west"
  },
  "shoppingcart": {
    "position": [
      4,
      8
    ],
    "facing": "south"
  },
  "wine": {
    "position": [
      0,
      9
    ]
  },
  "televison": {
    "position": [
      0,
      7
    ],
    "facing": "west"
  },
  "airplane": {
    "position": [
      1,
      9
    ],
    "facing": "west"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  }
}

{
  "truck": {
    "position": [
      -1,
      2
    ],
    "facing": "east"
  },
  "televison": {
    "position": [
      1,
      8
    ],
    "facing": "west"
  },
  "bike": {
    "position": [
      -3,
      2
    ],
    "facing": "west"
  },
  "chair": {
    "position": [
      1,
      -2
    ],
    "facing": "north"
  },
  "airplane": {
    "position": [
      3,
      10
    ],
    "facing": "west"
  },
  "scooter": {
    "position": [
      -7,
      2
    ],
    "facing": "east"
  },
  "backpack": {
    "position": [
      3,
      0
    ],
    "facing": "south"
  },
  "shoes": {
    "position": [
      4,
      -2
    ],
    "facing": "north"
  },
  "wine": {
    "position": [
      1,
      10
    ],
    "facing": "east"
  },
  "basket": {
    "position": [
      -5,
      0
    ],
    "facing": "east"
  },
  "shoppingcart": {
    "position": [
      5,
      6
    ],
    "facing": "south"
  },
  "table": {
    "position": [
      -5,
      -2
    ],
    "facing": "east"
  },
  "green door": {
    "position": [
      -2,
      -1
    ],
    "facing": "east"
  },
  "red door": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  },
  "agent": {
    "position": [
      4,
      4
    ],
    "facing": "north"
  }
}

You have returned to the initial position and face north.
There are 4 objects in the room that have been changed (position or orientation).
Note one object is either moved or rotated, not both.
Goal: Explore the room again and identify which objects have been changed and how with minimum costs.
Use the same action set as the exploration phase.
You must use the Term(changes="...") action to submit your answer and terminate.
Format: Term(changes="object1: change_type, object2: change_type")
Example: Term(changes="apple: position, chair: orientation")
You have a maximum of 15 steps.

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

You have returned to the initial position and face north.
There are 4 objects in the room that have been changed (position or orientation).
Note one object is either moved or rotated, not both.
Goal: Explore the room again and identify which objects have been changed and how with minimum costs.
Use ...

I am back in Room 1 at (0,0) facing North. This is the re-exploration phase. I need to identify 4 changes (position or orientation) among the 12 objects.
My previous observations for Room 1 were:
- North (at start): truck (front-left, mid, facing right), red door (front-right, slightly far).
- East (after rot 90): backpack (front, mid, facing right), shoes (front-right, slightly far, facing left).
- South (after rot 90): chair (front-left, mid, facing backward).
- West (after rot 90): green door (front-left, mid).

My current state: (0,0) facing North.
I should start by observing Room 1 again to check truck, red door, backpack, shoes, chair, green door.
I will replicate the initial scan pattern: Observe North, Rotate, Observe East, etc.
Actually, I can be more efficient. I need to check the objects.
Scan North: Check truck. (Red door is a door, usually fixed, but check it).
Scan East: Check backpack, shoes.
Scan South: Check chair.
Scan West: Check green door.

Step 1: Observe North.

I am back in Room 1 at (0,0) facing North. This is the re-exploration phase. I need to identify 4 changes (position or orientation) among the 12 objects.
My previous observations for Room 1 were:
- North (at start): truck (front-left, mid, facing right), red door (front-right, slightly far).
- East ...

THINK:
I need to generate a cognitive map based on the observations from the first phase and the current re-exploration phase.
I have just re-observed the North sector of Room 1.
Observation:
- truck: front-left, mid distance, facing right. (Previous: front-left, mid, facing right). No change.
- red door: front-right, slightly far. (Previous: front-right, slightly far). No change.

I need to construct the map for *all* objects based on my memory of the first phase, and update/confirm with current observations.

Phase 1 Recap:
Room 1 (Origin 0,0):
- Truck: front-left (NW), mid (~3m). Facing East.
- Red Door: front-right (NE), slightly far (~5m). On North wall.
- Backpack: East view -> front (East), mid (~3m). Facing South (right of East).
- Shoes: East view -> front-right (SE), slightly far (~5m). Facing North (left of East).
- Chair: South view -> front-left (SE), mid (~3m). Facing North (backward relative to South).
- Green Door: West view -> front-left (SW), mid (~3m). On West wall.

Room 2 (West of Room 1, connected by Green Door):
- Green Door at ~(-3, 0).
- From door facing West:
- Scooter: front-right (NW), slightly far. Facing East (backward relative to West).
- Basket: front-slight-right (WNW), mid.
- Table: front-slight-left (WSW), mid.
- From Table (facing North):
- Bike: front-right (NE), slightly far. Facing West (left of North).
- Scooter: front-left (NW).
- Basket: front (N).

Room 3 (North of Room 1, connected by Red Door):
- Red Door at ~(0, 5).
- From Red Door facing North:
- Television: front-left (NW), slightly far. Facing West (left of North).
- Airplane: front-slight-left (NW), slightly far. Facing West.
- Wine: front-left (NW), slightly far.
- Shoppingcart: front-right (NE), mid. Facing South (backward).

Coordinates Estimation (Approximate integers):
Agent start (0,0).
Room 1:
- Truck: NW -> (-2, 2). Facing East.
- Red Door: NE -> (1, 5) or (2, 5). Let's say (2, 5).
- Backpack: E -> (3, 0). Facing South.
- Shoes: SE -> (3, -3). Facing North.
- Chair: S/SE -> (1, -3). Facing North.
- Green Door: W/SW -> (-3, 0).

Room 2 (West):
- Green Door leads to Room 2.
- Scooter: NW of door -> (-5, 2). Facing East.
- Basket: WNW of door -> (-5, 1).
- Table: WSW of door -> (-5, -1).
- Bike: NE of table (-5, -1) is (-3, 1). Facing West.

Room 3 (North):
- Red Door leads to Room 3.
- TV: NW of door -> (-2, 8). Facing West.
- Airplane: NW of door -> (-1, 7). Facing West.
- Wine: Near TV -> (-2, 7).
- Shopping Cart: NE of door -> (4, 7). Facing South.

I need to output the JSON map including all objects. Since I am in the re-exploration phase, I haven't confirmed changes for most objects yet, but the map request asks for the "Global Cognitive Map". I will use the positions and orientations derived from the initial exploration, as I haven't seen evidence of changes yet (Truck is unchanged). The "changes" will be reported in the final Term() call, but the map should reflect the current best estimate. Since I haven't seen changes, I use the initial map.

Wait, the prompt says "Content: include ALL objects and gates; include the agent".
I must include `facing` for objects that have it.

Let's refine coordinates.
Room 1 (0,0 to boundaries):
Truck: (-2, 2), facing East.
Backpack: (3, 0), facing South.
Shoes: (3, -3), facing North.
Chair: (0, -3), facing North. (Observed South view -> front-left. South view is facing -y. Front-left is -y, +x -> SE? No. Front is South. Left is East. Front-left is SE. So (2, -2) or similar). Let's stick to approximate.
Green Door: (-3, 0).
Red Door: (2, 5).

Room 2 (West of x=-3):
Table: (-5, -1).
Basket: (-5, 1).
Scooter: (-6, 2), facing East.
Bike: (-4, 2), facing West.

Room 3 (North of y=5):
TV: (-1, 8), facing West.
Airplane: (-1, 7), facing West.
Wine: (-2, 7).
Shoppingcart: (3, 7), facing South.

Agent is currently at [0, 0], facing "north".

FINAL ANSWER:
```json
{
"agent": {"position": [0, 0], "facing": "north"},
"truck": {"position": [-2, 2], "facing": "east"},
"red door": {"position": [2, 5], "facing": "north"},
"green door": {"position": [-3, 0], "facing": "west"},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [3, -3], "facing": "north"},
"chair": {"position": [1, -3], "facing": "north"},
"scooter": {"position": [-6, 2], "facing": "east"},
"basket": {"position": [-5, 1]},
"table": {"position": [-5, -1]},
"bike": {"position": [-4, 2], "facing": "west"},
"televison": {"position": [-1, 8], "facing": "west"},
"airplane": {"position": [-1, 7], "facing": "west"},
"wine": {"position": [-2, 7]},
"shoppingcart": {"position": [3, 7], "facing": "south"}
}
```

THINK:
I need to generate a cognitive map based on the observations from the first phase and the current re-exploration phase.
I have just re-observed the North sector of Room 1.
Observation:
- truck: front-left, mid distance, facing right. (Previous: front-left, mid, facing right). No change.
- red...

You observe:
• truck: front-left, mid distance, facing right
• red door: front-right, slightly far, on front wall.
You have a maximum of 14 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]

You observe:
• truck: front-left, mid distance, facing right
• red door: front-right, slightly far, on front wall.
You have a maximum of 14 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]...

Current Observation (North):
- truck: front-left, mid distance, facing right.
Previous Observation (North):
- truck: front-left, mid distance, facing right.
No change detected for truck. Red door matches.

Next, check East (backpack, shoes).
Rotate 90 clockwise.

Current Observation (North):
- truck: front-left, mid distance, facing right.
Previous Observation (North):
- truck: front-left, mid distance, facing right.
No change detected for truck. Red door matches.

Next, check East (backpack, shoes).
Rotate 90 clockwise....

THINK:
I am re-exploring Room 1.
Initial Scan (North): truck (unchanged).
Current Scan (East):
- bike: front-slight-left, mid distance, facing backward.
- backpack: front, mid distance, facing right.
- shoes: front-right, slightly far, facing left.

Comparisons:
Previous Room 1 East:
- backpack: front, mid, facing right. (Matches).
- shoes: front-right, slightly far, facing left. (Matches).
- No bike seen in Room 1 before. Bike was in Room 2.
- Wait, bike is now in Room 1?
- Previous Room 2 Observation (from table facing North): bike (front-right).
- Here, bike is in Room 1! "bike: front-slight-left, mid distance".
- This means the bike moved from Room 2 to Room 1.
- So, **bike: position** change.

I still need to check South (chair) and West (green door) in Room 1.
Then I need to check Room 2 and Room 3.
Since bike moved to Room 1, maybe something from Room 1 moved to Room 2? Or bike just moved.
The prompt says "4 objects... changed (position or orientation)".
Bike is 1 change.

I need to output the JSON map.
I am at (0,0) facing East.
Agent: {"position": [0, 0], "facing": "east"}
Objects in Room 1:
- truck (North of (0,0), mid): approx (0, 2) or (-1, 2). "front-left" from N -> (-1, 2). Facing right (East).
- red door (North of (0,0), slightly far): approx (1, 4) or (2, 4)? "front-right" from N. On front wall. Say (2, 4).
- backpack (East of (0,0), mid): approx (2, 0) or (3, 0). "front" from E. Facing right (South).
- shoes (East of (0,0), slightly far, front-right): approx (3, -1) or (3, -2). Facing left (North).
- bike (East of (0,0), front-slight-left): approx (2, 1). Facing backward (West).
- chair (South of (0,0), mid, front-left): approx (-1, -2). Facing backward (North).
- green door (West of (0,0), mid): approx (-3, 0).
Room 2 (West of Room 1):
- table (SW of green door): approx (-5, -2).
- scooter (NW of green door): approx (-5, 2).
- basket (W of green door): approx (-4, 1).
Room 3 (North of Room 1):
- television (NW of red door): approx (-1, 6).
- airplane (NW of red door): approx (0, 6).
- wine (NW of red door): approx (-1, 5).
- shoppingcart (NE of red door): approx (3, 5).

I will estimate positions based on "mid" (2-4m) and "slightly far" (4-8m).
Agent at (0,0).
Truck: front-left (North view). Mid (say dist 3). Angle ~ -30. Pos ~ (-1.5, 2.5). Round to (-1, 3). Facing East.
Red Door: front-right (North view). Slightly far (say 5). Angle ~ 30. Pos ~ (2.5, 4.3). Round to (2, 4).
Backpack: front (East view). Mid (3). Pos (3, 0). Facing South.
Shoes: front-right (East view). Slightly far (5). Angle ~ 30 (relative to E is -30 global? No, right is clockwise, so S-W? No. Facing East (90). Front-right is 90+30=120 (SE). Pos (2.5, -4.3)? Or (4, -2). Say (4, -2). Facing North.
Bike: front-slight-left (East view). Mid (3). Angle -15 relative to E -> 75 (NE). Pos (1, 3)? Or (2, 1). Say (2, 1). Facing West.
Chair: front-left (South view). South is 180. Front-left is 180-30 = 150 (SE)? No, front-left relative to S (180) is 180-30=150 (SE). Wait. Left is CCW. 180 - (-30) = 210?
Standard: Left is + angle (CCW). Facing S (180). Left is East. Right is West.
Wait, Facing S. Left is agent's left (East). Right is West.
So front-left is SE.
Pos ~ (2, -3). Facing North.
Green Door: front-left (West view). West is 270 (-90). Left is South. Right is North.
So front-left is SW. Pos ~ (-2, -3).
Let's refine based on "on front wall".
West view -> Green door on front wall -> West Wall.
South view -> Chair front-left facing backward.
North view -> Truck front-left facing right.

Okay, I'll generate a consistent map.

FINAL ANSWER:
```json
{
"agent": {"position": [0, 0], "facing": "east"},
"truck": {"position": [-2, 3], "facing": "east"},
"red door": {"position": [2, 4], "facing": "north"},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [4, -2], "facing": "north"},
"bike": {"position": [2, 1], "facing": "west"},
"chair": {"position": [2, -3], "facing": "north"},
"green door": {"position": [-3, 0], "facing": "west"},
"table": {"position": [-5, -2], "facing": "east"},
"scooter": {"position": [-5, 2], "facing": "south"},
"basket": {"position": [-4, 1], "facing": "east"},
"television": {"position": [-1, 6], "facing": "east"},
"airplane": {"position": [0, 6], "facing": "west"},
"wine": {"position": [-1, 5], "facing": "north"},
"shoppingcart": {"position": [3, 5], "facing": "south"}
}
```

THINK:
I am re-exploring Room 1.
Initial Scan (North): truck (unchanged).
Current Scan (East):
- bike: front-slight-left, mid distance, facing backward.
- backpack: front, mid distance, facing right.
- shoes: front-right, slightly far, facing left.

Comparisons:
Previous Room 1 East:
- backpack: fro...

You rotated clockwise 90°. You observe:
• bike: front-slight-left, mid distance, facing backward
• backpack: front, mid distance, facing right
• shoes: front-right, slightly far, facing left
• red door: front-left, slightly far, on left wall
Assume your current facing direction is called "north":
• bike is west, near to backpack.
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:
• bike: front-slight-left, mid distance, facing backward
• backpack: front, mid distance, facing right
• shoes: front-right, slightly far, facing left
• red door: front-left, slightly far, on left wall
Assume your current facing direction is called "north":
•...

Current Observation (East):
- bike: front-slight-left, mid distance, facing backward.
- backpack: front, mid distance, facing right.
- shoes: front-right, slightly far, facing left.

Previous Observation (East):
- backpack: front, mid distance, facing right.
- shoes: front-right, slightly far, facing left.
- red door: front-left...

Comparison:
- Backpack: No change.
- Shoes: No change.
- **Bike**: It was previously in Room 2 (observed from Room 2 table facing North as "front-right" i.e., NE in Room 2). Now it is in Room 1!
So **bike: position** changed.

I found 1 change. Need 3 more.
Objects left to check:
Room 1: Chair (South).
Room 2: Scooter, Basket, Table. (Bike moved to Room 1).
Room 3: TV, Airplane, Wine, Shopping Cart.

Next step: Check South (Chair).
Rotate 90 clockwise.

Current Observation (East):
- bike: front-slight-left, mid distance, facing backward.
- backpack: front, mid distance, facing right.
- shoes: front-right, slightly far, facing left.

Previous Observation (East):
- backpack: front, mid distance, facing right.
- shoes: front-right, slightly far, facin...

THINK:
The agent is currently at (0, 0) facing South.
I have explored Room 1, Room 2, and Room 3.
During re-exploration of Room 1, I identified two changes so far:
1. **Bike**: Moved from Room 2 to Room 1. Observed in Room 1 (facing East scan) at ~ (3, 2) facing West.
2. **Chair**: Changed orientation. Originally facing North (backward relative to South), now facing West (right relative to South). Position ~ (2, -3).

The map includes all observed objects with their estimated coordinates and global facing directions derived from the egocentric observations.
- Agent: [0, 0], South.
- Truck: [-2, 3], East.
- Red Door: [2, 5].
- Backpack: [3, 0], South.
- Shoes: [4, -3], North.
- Green Door: [-3, -2].
- Bike: [3, 2], West.
- Chair: [2, -3], West.
- Table: [-6, -4].
- Scooter: [-8, -2], East.
- Basket: [-6, -2].
- Television: [0, 8], West.
- Airplane: [1, 9], West.
- Wine: [-1, 8].
- Shoppingcart: [4, 7], South.

FINAL ANSWER:
```json
{
"agent": {"position": [0, 0], "facing": "south"},
"truck": {"position": [-2, 3], "facing": "east"},
"red door": {"position": [2, 5]},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [4, -3], "facing": "north"},
"bike": {"position": [3, 2], "facing": "west"},
"chair": {"position": [2, -3], "facing": "west"},
"green door": {"position": [-3, -2]},
"table": {"position": [-6, -4]},
"scooter": {"position": [-8, -2], "facing": "east"},
"basket": {"position": [-6, -2]},
"televison": {"position": [0, 8], "facing": "west"},
"airplane": {"position": [1, 9], "facing": "west"},
"wine": {"position": [-1, 8]},
"shoppingcart": {"position": [4, 7], "facing": "south"}
}
```

THINK:
The agent is currently at (0, 0) facing South.
I have explored Room 1, Room 2, and Room 3.
During re-exploration of Room 1, I identified two changes so far:
1. **Bike**: Moved from Room 2 to Room 1. Observed in Room 1 (facing East scan) at ~ (3, 2) facing West.
2. **Chair**: Changed orientati...

You rotated clockwise 90°. You observe:
• chair: front-left, mid distance, facing right.
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:
• chair: front-left, mid distance, facing right.
You have a maximum of 12 exploration steps left.
Strictly follow this format:
THINK:
[Your thoughts on next step actions]
FINAL ANSWER:
Actions: [ ... ]...

Current Observation (South):
- chair: front-left, mid distance, facing **right**.

Previous Observation (South):
- chair: front-left, mid distance, facing **backward**.

Comparison:
- Chair: Position (front-left, mid) seems same. Orientation changed from "facing backward" to "facing right".
So **chair: orientation** changed.

I found 2 changes (bike: position, chair: orientation). Need 2 more.
Room 1 check complete (West only had green door).
I need to check Room 2 and Room 3.
Since I am facing South, I can rotate to West to go to the green door (Room 2).
Green door is West.

Plan: Rotate 90 to face West, Jump to green door.

Current Observation (South):
- chair: front-left, mid distance, facing **right**.

Previous Observation (South):
- chair: front-left, mid distance, facing **backward**.

Comparison:
- Chair: Position (front-left, mid) seems same. Orientation changed from "facing backward" to "facing right".
So **cha...

THINK: [The agent is currently at the green door (connecting Room 1 and Room 2), facing West.
Based on the observations:
- **Room 1 (Center/East)**: Contains the `truck` (NW relative to origin), `backpack` (East), `shoes` (SE), `chair` (South, with changed orientation), `bike` (East, moved from Room 2). The `red door` is to the North, `green door` to the West.
- **Room 2 (West)**: Contains `scooter`, `basket`, `table`, and now `wine` (moved from Room 3).
- **Room 3 (North)**: Contains `television`, `airplane`, `shoppingcart`. `wine` is no longer here.

Coordinates are estimated relative to the initial position (0,0) with North as +y.
- Green door estimated at (-4, -2).
- Red door estimated at (2, 4).
- Room 2 objects have x < -4.
- Room 3 objects have y > 4.
- Room 1 objects are around the origin.
Changes identified so far: Bike (position), Chair (orientation), Wine (position).
]
FINAL ANSWER:
{
"agent": {"position": [-4, -2], "facing": "west"},
"truck": {"position": [-2, 3], "facing": "east"},
"red door": {"position": [2, 4]},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [3, -3], "facing": "north"},
"chair": {"position": [2, -3], "facing": "west"},
"bike": {"position": [3, 1], "facing": "west"},
"green door": {"position": [-4, -2]},
"scooter": {"position": [-7, 1], "facing": "east"},
"wine": {"position": [-6, 2]},
"basket": {"position": [-6, 0]},
"table": {"position": [-7, -3]},
"television": {"position": [-1, 8], "facing": "west"},
"airplane": {"position": [1, 8], "facing": "west"},
"shoppingcart": {"position": [4, 7], "facing": "south"}
}

THINK: [The agent is currently at the green door (connecting Room 1 and Room 2), facing West.
Based on the observations:
- **Room 1 (Center/East)**: Contains the `truck` (NW relative to origin), `backpack` (East), `shoes` (SE), `chair` (South, with changed orientation), `bike` (East, moved from Room...

You rotated clockwise 90°. You jumped to green door. You observe:
• scooter: front-right, slightly far, facing backward
• wine: front-right, slightly far
• basket: front-slight-right, mid distance
• table: front-slight-left, mid distance
Assume your current facing direction is called "north":
• scooter is north west, near to wine
• basket is east, near to table.
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 jumped to green door. You observe:
• scooter: front-right, slightly far, facing backward
• wine: front-right, slightly far
• basket: front-slight-right, mid distance
• table: front-slight-left, mid distance
Assume your current facing direction is called "north":
• sco...

I am at the green door (West wall of Room 1), facing West into Room 2?
Wait, at the green door (which connects R1 and R2).
Previous time I jumped to green door from R1 origin facing West. My orientation remained West.
I observed: scooter (front-right), basket (front-slight-right), table (front-slight-left).
Current Observation (facing West?):
- scooter: front-right, slightly far, facing backward.
- wine: front-right, slightly far.
- basket: front-slight-right, mid distance.
- table: front-slight-left, mid distance.

Comparison:
- Scooter: Previous (scooter: front-right, slightly far, facing backward). No change.
- Basket: Previous (basket: front-slight-right, mid distance). No change.
- Table: Previous (table: front-slight-left, mid distance). No change.
- **Wine**: Wine was in Room 3 (observed from red door). Now it is in Room 2 (front-right, near scooter).
So **wine: position** changed.

I found 3 changes (bike: position, chair: orientation, wine: position). Need 1 more.
Remaining objects to check:
- Room 3: TV, Airplane, Shopping Cart. (Wine moved).
- Room 2: I saw scooter, basket, table. They seem unchanged in position. Did I check their orientation?
Scooter: "facing backward" (Current) vs "facing backward" (Previous). No change.
Basket: No orientation reported usually (it's symmetrical or default? Prompt didn't report it previously). Wait, looking back at Room 2 data:
"basket: front, near" (from table facing North).
From door: "basket: front-slight-right".
Current: "basket: front-slight-right". Position seems same.
Table: "table: front-slight-left". Position same.
I haven't checked Room 3 yet. The last change is likely there or in the orientation of something in Room 3.
Room 3 objects: TV, Airplane, Shopping Cart.

I need to go to Room 3.
I am at the green door. I need to go to the red door in Room 1.
Red door is in Room 1 (East of me).
I need to turn around (face East) and jump to red door.
I am facing West (into Room 2).
Rotate 180 to face East.

I am at the green door (West wall of Room 1), facing West into Room 2?
Wait, at the green door (which connects R1 and R2).
Previous time I jumped to green door from R1 origin facing West. My orientation remained West.
I observed: scooter (front-right), basket (front-slight-right), table (front-sligh...

THINK:
I am at the red door (North wall of Room 1).
My previous action was `Rotate(180), JumpTo(red door), Observe()`.
I was at the green door facing West. Rotated 180 -> facing East.
Then `JumpTo(red door)`.
Red door is on the North wall of Room 1.
If I am at the red door and my orientation is East (carried over from jump), and I `Observe()`:
The prompt says: "You observe: No objects in field of view.."
This is unexpected if I am looking into Room 1 (South/East/West) or Room 3.
Wait, if I am at the red door facing East.
Red door connects Room 1 (South) and Room 3 (North).
Facing East means I am looking along the wall? Or into the door frame?
If I am "at the door", usually I am in the doorway.
Facing East might be looking at the wall separating R1 and R3.
Previous time, when I was at the red door, I rotated to face North to look into Room 3.
Now I am facing East.
I need to check Room 3 objects (TV, Airplane, Shopping Cart).
I should Rotate(-90) to face North (into Room 3).

Wait, the prompt asks for the Cognitive Map now.
It interrupted the flow?
No, the prompt says "Cognitive Map (JSON)".
I need to produce the JSON map based on my current knowledge.
I have explored Room 1, Room 2, and partially Room 3 (initial exploration + found changes).
I have verified changes for:
- Bike (moved to R1)
- Chair (rotated in R1)
- Wine (moved to R2)
- Need to find 1 more change.
However, the prompt asks for the "Global Cognitive Map". This usually implies the current state of the world as I understand it.
I need to estimate coordinates.
Initial pos (0,0) facing North.
Room 1:
- Truck: (0,0) -> front-left, mid. Facing North, FL is NW. Say (-2, 2).
- Red door: (0,0) -> front-right, slightly far. Facing North, FR is NE. Say (2, 5). "on front wall" -> North wall. So y=5?
- Backpack: (0,0) -> East view -> front. (Positive X). Say (3, 0).
- Shoes: (0,0) -> East view -> front-right (SE). Say (3, -3).
- Chair: (0,0) -> South view -> front-left (SE? No, facing South, FL is SE). Say (2, -2).
- Green door: (0,0) -> West view -> front-left. Facing West, FL is SW. Say (-2, -1)? Or "on front wall" (West wall). So x=-something.
Room 2 (West of R1):
- Connected via green door.
- Objects: Scooter, Basket, Table, Wine (newly moved here).
Room 3 (North of R1):
- Connected via red door.
- Objects: TV, Airplane, Shopping Cart. (Wine moved out).

Coordinates estimation:
Agent is at Red Door.
Let's fix Room 1 dimensions.
Red door is North wall. Green door is West wall.
From (0,0):
Red door: front-right (N view). Distance "slightly far" (4-8). Say dist 5. Angle ~20 deg right?
Green door: front-left (W view). Distance "mid" (2-4). Say dist 3.
Let's assume Room 1 is roughly centered near (0,0).
Let's approximate:
Red door at (1, 5).
Green door at (-4, 0).
Truck at (-2, 3).
Backpack at (3, 0).
Shoes at (3, -3).
Chair at (2, -2).
Bike (moved to R1, near backpack). Say (2, 0).

Room 2 (West of Green door):
Door at (-4, 0).
Table was "front-slight-left" from door (facing West). So West-South. (-7, -2).
Scooter "front-right" from door (facing West). So West-North. (-7, 2).
Basket "front-slight-right". (-6, 1).
Wine (new here) "front-right". (-6, 3).

Room 3 (North of Red door):
Door at (1, 5).
TV "front-left" from door (facing North). So North-West relative to door. (-2, 8).
Airplane "front-slight-left". (0, 9).
Shopping cart "front-right". (4, 8).

Change detection status:
1. Bike: Position (R2->R1).
2. Chair: Orientation (Backward->Right).
3. Wine: Position (R3->R2).
4. Missing one. Likely in Room 3 (TV, Airplane, Cart). Or Truck/Backpack/Shoes/Scooter/Basket/Table orientation.
I checked:
- Truck: No change (facing right).
- Backpack: No change (facing right).
- Shoes: No change (facing left).
- Scooter: No change (facing backward).
- Basket: No orientation given/change not obvious.
- Table: No orientation given.
- TV/Airplane/Cart: Haven't checked in phase 2.
So the 4th change is almost certainly in Room 3.
However, I must output the map now. I should deduce positions as best as possible.
The map should reflect the *current* state (with changes).

The request "Cognitive Map (JSON)" usually appears before the final Term() in some flows, or as a standalone task. Here it's a specific prompt.
I will generate the JSON with estimated integer coordinates.
Orientation: "north", "south", "east", "west".
Agent: currently at Red Door. Position approx (1, 5). Facing East? Last action was Rotate(180) (West->East) then JumpTo(RedDoor). I am facing East.

Let's refine coordinates:
Scale:
Near (0-2), Mid (2-4), Slightly Far (4-8).
Room 1:
Agent start (0,0).
Truck: FL, Mid. (-2, 2). Facing East (Right relative to North? No, "facing right" usually means Allo-East). Prompt says "forward/backward/right/left (ego) or north/east/south/west (allo)". The observations say "facing right". If this is ego relative to me (North), then East. If it's absolute, it's East. Let's assume absolute "facing right" isn't standard syntax in observations unless it means relative to agent?
"Orientation: forward/backward/right/left (ego)... When agent faces north: forward = north, right = east".
Observation: "truck: ..., facing right". I was facing North. So truck faces East.
Red Door: FR, Slightly Far. (2, 5). On Front (North) wall.
Backpack: Front (East), Mid. (3, 0). Facing Right (relative to East is South).
Shoes: FR (East), Slightly Far. (4, -2). Facing Left (relative to East is North).
Chair: FL (South), Mid. (2, -2). Facing Right (relative to South is West).
Bike: R1, West of Backpack. Backpack (3,0). Bike (1,0). Facing Backward (relative to East is West).
Green Door: FL (West), Mid. (-3, -1)? Or just (-3, 0). On Front (West) wall.

Room 2:
Green Door at (-3, 0).
From Green Door facing West:
Scooter: FR, SF. (-6, 3). Facing Backward (relative to West is East).
Wine: FR, SF. (-5, 4).
Basket: FSR, Mid. (-6, 1).
Table: FSL, Mid. (-6, -2).

Room 3:
Red Door at (2, 5).
From Red Door facing North (previous phase):
TV: FL, SF. (-1, 9). Facing Left (relative to North is West).
Airplane: FSL, SF. (0, 10). Facing Left (West).
Cart: FR, Mid. (5, 8). Facing Backward (South).

The 4th change: I haven't verified Room 3.
I will assume the objects in Room 3 are in their old positions for the map, or try to infer.
Actually, for the map, I should just output what I know.
I will assume Room 3 objects are at their initial observed positions.
Current agent pos: At Red Door (2, 5). Facing East.

Wait, I need to list ALL objects.
Objects: truck, televison, bike, chair, airplane, scooter, backpack, shoes, wine, basket, shoppingcart, table. (12 items).
Doors: green door, red door.
Agent.

Refined Grid:
Unit: 1m? Steps are integers.
Let's map to a consistent grid.
Start (0,0).
Room 1: (-3 to 3) x (-3 to 5).
Room 2: (-8 to -3) x (-3 to 5).
Room 3: (-3 to 6) x (5 to 11).

Positions:
Truck: (-2, 2). Facing East.
Red door: (1, 5).
Backpack: (3, 0). Facing South.
Shoes: (3, -3). Facing North.
Chair: (2, -2). Facing West.
Bike: (1, 0). Facing West.
Green door: (-3, 0).
Scooter: (-6, 3). Facing East.
Wine: (-5, 3).
Basket: (-5, 1).
Table: (-6, -1).
TV: (-1, 8). Facing West.
Airplane: (0, 9). Facing West.
Shoppingcart: (4, 8). Facing South.

Agent: (1, 5). Facing East.

Wait, "wine" in Room 2 (near scooter).
"scooter is north west, near to wine" -> Wine is SE of Scooter? Or Scooter is NW of Wine.
"wine: front-right" (from door facing West -> NW).
"scooter: front-right" (NW).
Relative: "scooter is north west, near to wine".
So Wine is South East of Scooter.
Scooter (-6, 3). Wine (-5, 2).
Also "basket is east, near to table".
Table (-6, -2). Basket (-5, -2)?
Observation: "basket: front-slight-right" (WNW). "table: front-slight-left" (WSW).
From door (-3,0).
Basket at (-5, 1). Table at (-5, -1).
Basket is East of Table? No, Basket is North of Table.
Relative: "basket is east, near to table" -> Basket x > Table x.
Maybe Basket (-4, -1), Table (-6, -1).
Let's stick to approximate.

Final check on facing directions:
- Truck: facing right (from North) -> East.
- Backpack: facing right (from East) -> South.
- Shoes: facing left (from East) -> North.
- Chair: facing right (from South) -> West.
- Bike: facing backward (from East) -> West.
- Scooter: facing backward (from West) -> East.
- Basket: ? No facing.
- Table: ? No facing.
- Wine: ? No facing.
- TV: facing left (from North) -> West.
- Airplane: facing left (from North) -> West.
- Shoppingcart: facing backward (from North) -> South.

JSON construction.

FINAL ANSWER:
{
"agent": {"position": [1, 5], "facing": "east"},
"truck": {"position": [-2, 2], "facing": "east"},
"red door": {"position": [1, 5]},
"green door": {"position": [-3, 0]},
"backpack": {"position": [3, 0], "facing": "south"},
"shoes": {"position": [3, -3], "facing": "north"},
"chair": {"position": [2, -2], "facing": "west"},
"bike": {"position": [1, 0], "facing": "west"},
"scooter": {"position": [-6, 3], "facing": "east"},
"wine": {"position": [-5, 2]},
"basket": {"position": [-4, -1]},
"table": {"position": [-6, -1]},
"televison": {"position": [-1, 8], "facing": "west"},
"airplane": {"position": [0, 9], "facing": "west"},
"shoppingcart": {"position": [4, 8], "facing": "south"}
}

THINK:
I am at the red door (North wall of Room 1).
My previous action was `Rotate(180), JumpTo(red door), Observe()`.
I was at the green door facing West. Rotated 180 -> facing East.
Then `JumpTo(red door)`.
Red door is on the North wall of Room 1.
If I am at the red door and my orientation is East...