ACTION_NUMBER
2

ACTION_PROMPT
TASK: {'description': 'Leave the bedroom and look for the bathroom.', 'priority': 'medium'}. Your final task is to NAVIGATE TO THE NEAREST TOILET, and get as close to it as possible. There are 3 red arrows superimposed onto your observation, which represent potential actions. These are labeled with a number in a white circle, which represent the location you would move to if you took that action. In order to complete the subtask {'description': 'Leave the bedroom and look for the bathroom.', 'priority': 'medium'} and eventually the final task NAVIGATING TO THE NEAREST TOILET. Explain which action acheives that best. 

🎯 SCENE ANALYSIS for current direction (90°):
📍 Detected Objects and Their Locations:

🗺️ Spatial Object Mapping:
  - nightstand (unknown): spatial_pos=unknown
  - picture_frame (unknown): spatial_pos=unknown

🏠 Room Context: 

💡 Use this spatial information to make more informed navigation decisions!
Return your answer as {{'action': <action_key>}}. Note you CANNOT GO THROUGH CLOSED DOORS, and you DO NOT NEED TO GO UP OR DOWN STAIRS

ACTION_RESPONSE
Action 2 is the best option, as it leads towards the edge of the curtain, which is likely blocking the exit of the bedroom. Actions 1 and 3 keep the robot close to the curtain, hindering progress. Action 4 leads towards the nightstand, which is not helpful for exiting the room. Thus, action 2 is the most suitable choice for leaving the bedroom and searching for the bathroom.

{{'action': 2}}

COT_EVALUATOR_RESPONSE
{'goal_rotate_degrees': 90, 'explorable_value': {'30': 1, '90': 1, '150': 2, '210': 2, '270': 2, '330': 1}, 'reason': {'30': 'Wall blocking the view, likely a closet.  Low score due to being in a bedroom and the path being blocked.', '90': 'Bedroom furniture visible.  Low score due to being in a bedroom and the path being blocked by the wall.', '150': 'Clearly in a bedroom. Slightly higher score than adjacent angles because there might be a way out of the room in this direction, but still low probability of finding a toilet.', '210': 'Clearly in a bedroom. Slightly higher score than adjacent angles because there might be a way out of the room in this direction, but still low probability of finding a toilet.', '270': 'Still in the bedroom.  Slightly higher score due to the possibility of a doorway being just out of view, but still low probability of a toilet.', '330': 'Wall blocking the view. Low score due to being in a bedroom and the path being blocked.'}, 'cot_stats': {}}

COT_PLANNING_RESPONSE
{'goal_flag': False, 'subtask': {'description': 'Leave the bedroom and look for the bathroom.', 'priority': 'medium'}, 'goal_reason': 'Bedroom furniture visible.  Low score due to being in a bedroom and the path being blocked by the wall.'}

GOAL_SUBGRAPH_RESPONSE
{'target_object': 'toilet', 'subgraph_info': {'target_rooms': [], 'nodes_count': 0, 'edges_count': 0, 'vlm_semantic_hints': {}, 'subgraph_cached': True, 'construction_method': 'llm_generated'}, 'step_number': 6, 'episode_id': 352}