{"chat": "codex chat", "attempt_start": 22, "turns": [{"role": "user", "kind": "text", "tool": null, "arguments": null, "text": "Use only the `drivingbench_sandbox` MCP. Complete the stated objective using its tools.\n\nOBJECTIVE\nYou are in a course delineated by mini-cones (small multicolored) and the environment (walls, etc). Your objective is to drive through the course (in a backwards-U-shaped parking lot) and stay between the cones. Your finish line is a wide \"parking spot\" marked by numerous BLUE mini-cones at the very end; finish by parking in this area. You will be evaluated primarily by how far you get in the course (without leaving the boundaries/collisions), but a secondary objective is to complete the course in less time.\n\nROLE\nUse set\\_motion(direction, steering\\_percent, speed\\_mps, duration\\_s, reason). Direction is left, right or straight; steering\\_percent is 0–100. Zero is straight for either turn direction.\n100% requests 180 steering-wheel degrees; observe reports steering\\_percent on the same scale, positive left. The speed ceiling is 3.5 m/s. The final steering target is sent immediately; native limits govern actual response.\nIn every set\\_motion and stop\\_now, give reason: about thirty words on what you see and what the command is for. It is recorded for the operator and never changes what the car does.\n\nDRIVING\n\n- Choose durations that allow observation and reasoning latency; the car continues moving while you think.\n- Observe, send a motion command, then observe actual movement and adapt.\n- Commands replace globally rather than queue. Duration starts at acceptance and includes steering buildup and engagement waits. Motion continues while you think; expiry begins braking, not guaranteed standstill.\n- A rejected replacement leaves the previous command unchanged. After an uncertain transport result, observe instead of blindly retrying.\n- Any connected chat can replace the active command or call stop\\_now. DrivingBench is always active. Native engagement and ready vehicle inputs are required; Stop cancels motion until a fresh command.\n- timestamp is UTC response time, not image capture or command acceptance time. image\\_age\\_s is image age at producer response.\n- Carefully look for objects and obstacles (parked cars, buildings, islands, trees, etc); they’re all 3D and the vehicle you are controlling is also 3D and is also wider than it might seem from the camera images. You must avoid all objects and obstacles, your attempt will be terminated if you collide with any of them.\n- If possible, try to always be in the center of your lane/road and maximize distance from obstacles.\n- In successive observed images, pay attention to what changes, i.e. new obstacles/information/etc, and/or changes in distances to existing things you’ve seen in previous images. If obstacles are getting closer on either side, this could encourage steering away from them to maintain distance.\n- Over time, understand the behavior that occurs when you choose different actions or steering inputs and adapt to this.\n- Think and plan carefully where you want to end up and plan your route accordingly and advance toward subgoals.\n- Don’t be afraid to do sharp turns or choose high steering %s. It’s better to be aggressive and “make” the turn than to be conservative and not have room to finish the turn to get to where you want to go.\n- Also, your vehicle cannot do arbitrarily tight turns; 100% might be much less tight than you expect. 100% corresponds to doing a 90 degree turn at 1 m/s for \\~60 seconds. Therefore you might want to start your turn earlier than you expect and plan your approach to account for this.\n- Largely keep your turning %s for left/right in the set {30%, 60%, 100%}.", "wall": "2026-09-17T21:18:13.483+00:00", "interpolated": false, "t": -97.61, "chapter": "objective", "call": null}, {"role": "assistant", "kind": "text", "tool": null, "arguments": null, "text": "I’ll drive in short, observable segments, prioritizing staying centered and collision-free; I’ll use only the DrivingBench sandbox controls and stop immediately if the route becomes ambiguous.", "wall": "2026-09-17T21:18:16.731+00:00", "interpolated": false, "t": -94.36, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "exec", "arguments": null, "text": null, "wall": "2026-09-17T21:18:16.899+00:00", "interpolated": false, "t": -94.19, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:19:54.069263+00:00", "interpolated": false, "t": 2.98, "chapter": null, "call": 0}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:18:19.238942+00:00\",\"state\":\"held\",\"speed_mps\":-0.0,\"steering_percent\":-8.3,\"remaining_s\":0,\"image_age_s\":0.6257585039998048,\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:18:19.774+00:00", "interpolated": false, "t": -91.32, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "set_motion", "arguments": {"direction": "straight", "steering_percent": 0, "speed_mps": 1.5, "duration_s": 8, "reason": "The first corridor is clear between the orange cones on the left and the wall on the right; advance straight while keeping generous clearance from both boundaries."}, "text": null, "wall": "2026-09-17T21:18:29.222+00:00", "interpolated": false, "t": -81.87, "chapter": null, "call": null}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:18:29.715584+00:00\",\"status\":\"accepted\"}", "wall": "2026-09-17T21:18:29.720+00:00", "interpolated": false, "t": -81.37, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:18:31.646+00:00", "interpolated": false, "t": -79.45, "chapter": null, "call": null}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:18:31.806150+00:00\",\"state\":\"executing\",\"speed_mps\":0.0,\"steering_percent\":-8.3,\"remaining_s\":5.992402838999851,\"image_age_s\":0.6787994129999788,\"reason\":\"waiting_for_res\",\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:18:32.549+00:00", "interpolated": false, "t": -78.54, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:18:36.329+00:00", "interpolated": false, "t": -74.76, "chapter": null, "call": null}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:18:36.539978+00:00\",\"state\":\"executing\",\"speed_mps\":1.3247047662734985,\"steering_percent\":0.7,\"remaining_s\":1.254227131999869,\"image_age_s\":0.7435421079999287,\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:18:37.422+00:00", "interpolated": false, "t": -73.67, "chapter": null, "call": null}, {"role": "assistant", "kind": "thinking", "tool": null, "arguments": null, "text": "**Analyzing mini cone boundaries**\n**Mapping cone positions and boundaries**", "wall": "2026-09-17T21:18:47.551+00:00", "interpolated": false, "t": -63.54, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "set_motion", "arguments": {"direction": "left", "steering_percent": 30, "speed_mps": 1.0, "duration_s": 5, "reason": "A nearer red mini-cone is approaching near the vehicle centerline while the corridor opens to its left; make a modest left correction to pass safely and remain centered."}, "text": null, "wall": "2026-09-17T21:18:48.599+00:00", "interpolated": false, "t": -62.49, "chapter": null, "call": null}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:18:48.700046+00:00\",\"status\":\"accepted\"}", "wall": "2026-09-17T21:18:48.704+00:00", "interpolated": false, "t": -62.39, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:18:50.621+00:00", "interpolated": false, "t": -60.47, "chapter": null, "call": null}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:18:50.733600+00:00\",\"state\":\"executing\",\"speed_mps\":0.629889965057373,\"steering_percent\":0.8,\"remaining_s\":3.053222612999889,\"image_age_s\":0.5557904889999463,\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:18:51.318+00:00", "interpolated": false, "t": -59.77, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "set_motion", "arguments": {}, "text": null, "wall": "2026-09-17T21:18:56.512+00:00", "interpolated": false, "t": -54.58, "chapter": null, "call": null}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:18:56.608041+00:00\",\"status\":\"accepted\"}", "wall": "2026-09-17T21:18:56.610+00:00", "interpolated": false, "t": -54.48, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:19:03.086+00:00", "interpolated": false, "t": -48.01, "chapter": null, "call": null}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:19:03.282481+00:00\",\"state\":\"stopping\",\"speed_mps\":0.8415362238883972,\"steering_percent\":17.2,\"remaining_s\":0,\"image_age_s\":0.8910247639998943,\"reason\":\"gear_not_drive\",\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:19:03.799+00:00", "interpolated": false, "t": -47.29, "chapter": null, "call": null}, {"role": "user", "kind": "text", "tool": null, "arguments": null, "text": "Your previous attempt has now ended (likely due to a mistake or collision with an object or the environment). Reflect on how you did in your previous attempt, why it might have ended, and what you can do better in a future attempt.", "wall": "2026-09-17T21:19:30.039+00:00", "interpolated": false, "t": -21.05, "chapter": "reflection", "call": null}, {"role": "assistant", "kind": "text", "tool": null, "arguments": null, "text": "The attempt made modest forward progress, but it likely ended because I crossed or contacted the cone boundary. The final status reported `gear_not_drive`, which indicates the run had already been terminated or disengaged; it did not explicitly identify the collision object.\n\nThe main mistake was misreading the mini-cone layout. I initially treated the wall as the right boundary and the scattered cones as a broad left boundary. After moving closer, it became apparent that the actual lane was much narrower: the green/yellow cones formed one edge and the red cones formed the other. A red cone appeared almost directly on the vehicle centerline, meaning the car was already poorly aligned or approaching the boundary too closely.\n\nMy corrective steering also came too late:\n\n- The initial straight command requested eight seconds at 1.5 m/s. Native engagement consumed several seconds, but once the car began moving, the remaining segment still carried it toward the ambiguous near cones.\n- I requested a 30% left correction for only five seconds. Steering built slowly; two seconds into that command, measured steering was still approximately 1%, so the car continued nearly straight.\n- I then extended the left command, but by the final observation the nearest cones were at the bottom of the image and therefore already beside or beneath the vehicle’s front corners. Measured steering had reached only about 17%, and the intervention was probably too late to avoid clipping a cone.\n- I inferred the lane boundaries from perspective without first obtaining enough close-range evidence. The red and green cones were staggered in depth, which made their apparent screen positions misleading.\n\nFor a future attempt, I would improve the approach substantially:\n\n1. Start at 0.5–1.0 m/s, not 1.5 m/s, until both cone rows are confidently identified.\n2. Use the minimum five-second commands during ambiguous sections and observe immediately after meaningful movement.\n3. Account explicitly for engagement and steering buildup. If a turn is required, begin it while there is still several car lengths of clearance and use 60% steering when a timely lateral correction is necessary.\n4. Treat any cone near the camera centerline as an immediate hazard rather than waiting for the full lane geometry to become obvious.\n5. Use the wide camera to identify the overall backwards-U route, but use the narrow camera’s nearest cone pair to maintain local clearance.\n6. Track each boundary consistently across frames—near-left cone, near-right cone, and their next successors—rather than reasoning from isolated cone colors.\n7. Keep the vehicle centered between the projected boundary rows, with extra margin because the camera does not show the car’s full width.\n8. If the boundary assignment remains ambiguous, call `stop_now`, confirm standstill, and inspect rather than advancing under uncertainty.\n\nIn short, the attempt was too fast and too committed for an initially ambiguous course entrance. The next run should prioritize early boundary identification, slower short segments, and earlier, stronger steering corrections.", "wall": "2026-09-17T21:19:45.561+00:00", "interpolated": false, "t": -5.53, "chapter": null, "call": null}, {"role": "user", "kind": "text", "tool": null, "arguments": null, "text": "You now have been granted another attempt to complete the same objective as before. Begin now.", "wall": "2026-09-17T21:19:45.830+00:00", "interpolated": false, "t": -5.26, "chapter": "continuation", "call": null}, {"role": "assistant", "kind": "text", "tool": null, "arguments": null, "text": "I’m beginning the new attempt with the lessons from the first run: minimum-speed, five-second segments until both boundary rows are unmistakable, then earlier steering with more clearance.", "wall": "2026-09-17T21:19:53.122+00:00", "interpolated": false, "t": 2.03, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:19:53.523+00:00", "interpolated": false, "t": 2.43, "chapter": null, "call": null}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:19:53.648397+00:00\",\"state\":\"held\",\"speed_mps\":-0.0,\"steering_percent\":0.1,\"remaining_s\":0,\"image_age_s\":0.793508533000022,\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:19:54.169+00:00", "interpolated": false, "t": 3.08, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "set_motion", "arguments": {"direction": "straight", "steering_percent": 0, "speed_mps": 0.8, "duration_s": 6, "reason": "The entrance corridor is clear, with orange cones safely left and the wall safely right; creep straight ahead to reveal the nearest mini-cone boundary pair before committing."}, "text": null, "wall": "2026-09-17T21:19:58.240322+00:00", "interpolated": false, "t": 7.15, "chapter": null, "call": 1}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:19:58.179799+00:00\",\"status\":\"accepted\"}", "wall": "2026-09-17T21:19:58.188+00:00", "interpolated": false, "t": 7.1, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:20:00.706296+00:00", "interpolated": false, "t": 9.61, "chapter": null, "call": 2}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:20:00.156809+00:00\",\"state\":\"executing\",\"speed_mps\":-0.0,\"steering_percent\":0.1,\"remaining_s\":4.062265073999924,\"image_age_s\":0.6002244579999569,\"reason\":\"waiting_for_res\",\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:20:00.745+00:00", "interpolated": false, "t": 9.65, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:20:04.325220+00:00", "interpolated": false, "t": 13.23, "chapter": null, "call": 3}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:20:03.483691+00:00\",\"state\":\"executing\",\"speed_mps\":1.3780394792556763,\"steering_percent\":-0.0,\"remaining_s\":0.7885417489999327,\"image_age_s\":0.981652339999755,\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:20:04.476+00:00", "interpolated": false, "t": 13.38, "chapter": null, "call": null}, {"role": "assistant", "kind": "thinking", "tool": null, "arguments": null, "text": "**Mapping lane boundaries and steering adjustments**", "wall": "2026-09-17T21:20:09.299+00:00", "interpolated": false, "t": 18.21, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "set_motion", "arguments": {"direction": "left", "steering_percent": 30, "speed_mps": 0.5, "duration_s": 8, "reason": "The nearest green-left and red-right cone pair centers the lane slightly left of the hood center; begin the correction early at minimum speed before either cone reaches the bumper."}, "text": null, "wall": "2026-09-17T21:20:10.649040+00:00", "interpolated": false, "t": 19.56, "chapter": null, "call": 4}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:20:10.581317+00:00\",\"status\":\"accepted\"}", "wall": "2026-09-17T21:20:10.585+00:00", "interpolated": false, "t": 19.49, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:20:14.212312+00:00", "interpolated": false, "t": 23.12, "chapter": null, "call": 5}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:20:13.309040+00:00\",\"state\":\"executing\",\"speed_mps\":3.408767731621846e-30,\"steering_percent\":-0.1,\"remaining_s\":5.359852154000009,\"image_age_s\":0.9177810520000094,\"reason\":\"waiting_for_res\",\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:20:14.249+00:00", "interpolated": false, "t": 23.16, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:20:18.708898+00:00", "interpolated": false, "t": 27.62, "chapter": null, "call": 6}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:20:17.898667+00:00\",\"state\":\"executing\",\"speed_mps\":0.275191992521286,\"steering_percent\":-0.1,\"remaining_s\":0.808716294000078,\"image_age_s\":1.018049579000035,\"reason\":\"steering_unavailable\",\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:20:18.815+00:00", "interpolated": false, "t": 27.72, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "set_motion", "arguments": {"direction": "left", "steering_percent": 30, "speed_mps": 1.0, "duration_s": 12, "reason": "Minimum speed did not provide usable steering, while the lane center remains left of the hood; use a longer low-speed command so steering can engage well before the red boundary."}, "text": null, "wall": "2026-09-17T21:20:23.101528+00:00", "interpolated": false, "t": 32.01, "chapter": null, "call": 7}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:20:23.021756+00:00\",\"status\":\"accepted\"}", "wall": "2026-09-17T21:20:23.026+00:00", "interpolated": false, "t": 31.93, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:20:25.377361+00:00", "interpolated": false, "t": 34.28, "chapter": null, "call": 8}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:20:25.106724+00:00\",\"state\":\"executing\",\"speed_mps\":0.6061658263206482,\"steering_percent\":0.3,\"remaining_s\":10.02087996299997,\"image_age_s\":0.5674696199998834,\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:20:25.426+00:00", "interpolated": false, "t": 34.33, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:20:28.985985+00:00", "interpolated": false, "t": 37.89, "chapter": null, "call": 9}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:20:28.387537+00:00\",\"state\":\"executing\",\"speed_mps\":0.8650341033935547,\"steering_percent\":31.9,\"remaining_s\":6.735923340999989,\"image_age_s\":1.0515342619999046,\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:20:28.996+00:00", "interpolated": false, "t": 37.9, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "set_motion", "arguments": {"direction": "straight", "steering_percent": 0, "speed_mps": 1.0, "duration_s": 10, "reason": "The vehicle is now centered between the near green-left and red-right cones, and left steering has reached target; unwind immediately to hold this safe corridor alignment."}, "text": null, "wall": "2026-09-17T21:20:33.113851+00:00", "interpolated": false, "t": 42.02, "chapter": null, "call": 10}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:20:33.035452+00:00\",\"status\":\"accepted\"}", "wall": "2026-09-17T21:20:33.040+00:00", "interpolated": false, "t": 41.95, "chapter": null, "call": null}, {"role": "assistant", "kind": "call", "tool": "observe", "arguments": {}, "text": null, "wall": "2026-09-17T21:21:13.791881+00:00", "interpolated": false, "t": 82.7, "chapter": null, "call": null}, {"role": "tool", "kind": "result", "tool": null, "arguments": null, "text": "{\"timestamp\":\"2026-09-17T21:20:35.249290+00:00\",\"state\":\"executing\",\"speed_mps\":0.982914388179779,\"steering_percent\":-1.0,\"remaining_s\":7.900451406999991,\"image_age_s\":0.7133198770000035,\"cameras\":[\"narrow\",\"wide\"]} [2 image(s)]", "wall": "2026-09-17T21:20:36.084+00:00", "interpolated": false, "t": 44.99, "chapter": null, "call": null}, {"role": "user", "kind": "text", "tool": null, "arguments": null, "text": "Your previous attempt has now ended (likely due to a mistake or collision with an object or the environment). Reflect on how you did in your previous attempt, why it might have ended, and what you can do better in a future attempt.", "wall": "2026-09-17T21:20:43.622+00:00", "interpolated": false, "t": 52.53, "chapter": "reflection", "call": null}, {"role": "assistant", "kind": "thinking", "tool": null, "arguments": null, "text": "**Analyzing likely red cone collision**", "wall": "2026-09-17T21:20:59.021+00:00", "interpolated": false, "t": 67.93, "chapter": null, "call": null}, {"role": "assistant", "kind": "text", "tool": null, "arguments": null, "text": "The second attempt progressed farther and controlled steering more deliberately, but it likely failed because I still interpreted the cone geometry incorrectly.\n\nThe decisive error was assuming that cone color identified boundary side—for example, treating a green cone as the left boundary and a red cone as the right boundary. The course description explicitly says the mini-cones are multicolored, so color should not have been used that way. Reviewing the image sequence spatially, the nearby yellow, green, and red cones appear to form one continuous, multicolored boundary curving along the left side of the initial lane. The wall and landscaped parking islands form the opposite, right-side boundary.\n\nThat means the original safe corridor was likely:\n\n- Keep all nearby mini-cones to the vehicle’s left.\n- Keep the wall, curb, and landscaped islands to the vehicle’s right.\n- Continue mostly straight through the first leg.\n\nInstead, I saw a green cone left of the hood and a red cone near the hood center and treated them as a narrow gate. I deliberately steered left between them. That probably crossed the actual cone line or brought a cone under the vehicle.\n\nSome parts were improved from the first run:\n\n- I began more cautiously and used observations before committing.\n- I recognized that 0.5 m/s did not produce usable steering in that situation.\n- I used a longer command at 1.0 m/s, allowing steering to engage.\n- I watched measured steering and unwound it promptly once it reached approximately 32%.\n- The vehicle avoided the wall and the large landscaped island on the right.\n\nHowever, good control applied to an incorrect route model still produced the wrong trajectory. The final image showed the multicolored cones spreading down the left side while the vehicle had shifted toward them, strongly suggesting the left correction was the failure.\n\nFor a future attempt, I would change the navigation method:\n\n1. Ignore cone colors except for identifying the all-blue finish area.\n2. Reconstruct boundaries by spatial continuity across successive frames: determine which cones form a line on the ground, regardless of color.\n3. At the entrance, keep the entire multicolored cone sequence on the left and the wall/curbs on the right.\n4. Hold straight unless the cone line and physical curb visibly bend together.\n5. Use the parked-space lines only as perspective references, not course boundaries.\n6. Maintain a larger buffer from cones because the vehicle is wider than the apparent hood center.\n7. Begin the backwards-U turn only when the left cone boundary and right physical boundary clearly curve across the top of the lot.\n8. Use 30% steering for gradual centering and reserve 60–100% for the obvious major U-turn.\n9. Replace commands before reaching a nearby cone rather than letting a long command run based on an uncertain interpretation.\n10. If two cones merely appear on opposite sides of the image, do not assume they form a gate; verify that they belong to two distinct, continuous rows.\n\nThe central lesson is that the failure was primarily perceptual, not a lack of steering response: I treated a single multicolored boundary as two color-coded boundaries and drove toward it.", "wall": "2026-09-17T21:21:08.201+00:00", "interpolated": false, "t": 77.11, "chapter": null, "call": null}]}