ACTION_NUMBER
2

ACTION_PROMPT
TASK: {'description': 'Go around the sofa', 'priority': 'medium'}. Your final task is to NAVIGATE TO THE NEAREST CHAIR, 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': 'Go around the sofa', 'priority': 'medium'} and eventually the final task NAVIGATING TO THE NEAREST CHAIR. Explain which action acheives that best. 

🎯 SCENE ANALYSIS for current direction (30°):
📍 Detected Objects and Their Locations:

🗺️ Spatial Object Mapping:
  - sofa (unknown): spatial_pos=unknown
  - wall (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 would be the best option as it allows the robot to move around the sofa towards the goal, which is the nearest chair. Action 1 would move the robot into the wall, while actions 3 and 4 would move the robot further away from the goal.

{{'action': 2}}

COT_EVALUATOR_RESPONSE
{'goal_rotate_degrees': 30, 'explorable_value': {'30': 2, '90': 1, '150': 5, '210': 9, '270': 4, '330': 1}, 'reason': {'30': 'Sofa against a wall, indicating a corner or end of the living room. No clear path or chair visible.', '90': 'View appears to be from the back of a sofa, possibly facing a kitchen island.  Low score due to the obstructed view and uncertainty about the room.', '150': 'Open space with what appears to be a doorway on the right.  Moderate score due to the potential for the doorway to lead to a room with a chair.', '210': 'Dining table with chairs clearly visible. High probability of the target being present.', '270': 'Open space, possibly a corner of a room. Curtains suggest a living room or bedroom, but no chair is visible. Moderate score due to the open path.', '330': 'Wall directly in front, obstructing the view.  Low score due to the blocked path.'}, 'cot_stats': {}}

COT_PLANNING_RESPONSE
{'goal_flag': False, 'subtask': {'description': 'Go around the sofa', 'priority': 'medium'}, 'goal_reason': 'Sofa against a wall, indicating a corner or end of the living room. No clear path or chair visible.'}

GOAL_SUBGRAPH_RESPONSE
{'target_object': 'chair', 'subgraph_info': {'target_rooms': [], 'nodes_count': 0, 'edges_count': 0, 'vlm_semantic_hints': {}, 'subgraph_cached': True, 'construction_method': 'llm_generated'}, 'step_number': 8, 'episode_id': 594}