Rerun Locally

just task::run coverage openclaw visual agents=2 steps=30 souls=cooperative,cooperative output_dir=output/openclaw/coverage
Game: coverageScene: —Agents: 2Steps: 10Duration: 1259.2sVLM cost: $0.000000End: time_limitScores: agent agent_0: 60, agent agent_1: 24Provider: openclawModel: openclaw:agent-*Retries: 3Transient errors: 3Failed calls: 0

Provider Health

openclaw ended the run in a healthy state. Stop reason: none.

{
  "provider_name": "openclaw",
  "model": "openclaw:agent-*",
  "healthy": true,
  "total_calls": 10,
  "successful_calls": 10,
  "failed_calls": 0,
  "retry_events": 3,
  "calls_with_retries": 0,
  "transient_errors": 3,
  "consecutive_failures": 0,
  "last_error": "Upstream read timeout after 180s (model=openclaw/agent-1) \u2014 raise via OPENCLAW_HTTP_TIMEOUT=<seconds>: timed out",
  "last_error_kind": "OpenClawUnavailable",
  "last_call_duration_seconds": 280.579,
  "total_call_duration_seconds": 1199.18,
  "total_retry_delay_seconds": 6.0,
  "max_transient_errors": null,
  "max_calls_with_retries": null,
  "max_consecutive_failures": null,
  "stop_reason": null
}

Click any panel to zoom.

Step — / 9

Latest Agent Decisions

Agent 0Acting this step (step 0).

Chosen action: RotateRight

Reasoning: I need to read the ai2thor-navigator skill first before making a decision. Let me do that.

Agent 1No decision recorded yet.

Chosen action: —

Reasoning: No reasoning recorded yet.

Metrics Timeline

831409agent_0_cellsagent_1_cellscoverage_pcttotal_covered

VLM Reasoning Log

Step 0 — agent 0 — RotateRight

Reasoning: I need to read the ai2thor-navigator skill first before making a decision. Let me do that.

Prompt state
{
  "game": "coverage",
  "step": 0,
  "remaining_steps": 30,
  "current_agent": 0,
  "agents": {
    "0": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 1.5
      },
      "rotation": {
        "x": -0.0,
        "y": 0.0,
        "z": 0.0
      },
      "cells_covered": 24
    },
    "1": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 2.5
      },
      "rotation": {
        "x": -0.0,
        "y": 0.0,
        "z": 0.0
      },
      "cells_covered": 14
    }
  },
  "total_covered": 38,
  "coverage_pct": 16.2,
  "total_cells": 234,
  "target_pct": 95.0,
  "my_agent_id": 0,
  "available_actions": [
    "MoveAhead",
    "MoveBack",
    "MoveLeft",
    "MoveRight",
    "RotateLeft",
    "RotateRight"
  ],
  "no_progress_steps": 0,
  "last_attempted_action": null,
  "last_action_success": true,
  "visible_objects": [
    "Floor",
    "Sofa"
  ],
  "action_hints": {
    "MoveAhead": {
      "kind": "move",
      "target_cell": [
        -16,
        7
      ],
      "target_status": "covered_by_self",
      "estimated_new_cells": 2,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "MoveBack": {
      "kind": "move",
      "target_cell": [
        -16,
        5
      ],
      "target_status": "uncovered",
      "estimated_new_cells": 6,
      "nearest_uncovered_distance": 0,
      "improves_frontier_distance": true
    },
    "MoveLeft": {
      "kind": "move",
      "target_cell": [
        -17,
        6
      ],
      "target_status": "uncovered",
      "estimated_new_cells": 3,
      "nearest_uncovered_distance": 0,
      "improves_frontier_distance": true
    },
    "MoveRight": {
      "kind": "move",
      "target_cell": [
        -15,
        6
      ],
      "target_status": "uncovered",
      "estimated_new_cells": 5,
      "nearest_uncovered_distance": 0,
      "improves_frontier_distance": true
    },
    "RotateLeft": {
      "kind": "rotate",
      "facing_after_degrees": 270,
      "front_cell_after_turn": [
        -17,
        6
      ],
      "front_cell_status": "uncovered",
      "estimated_new_cells": 12,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "RotateRight": {
      "kind": "rotate",
      "facing_after_degrees": 90,
      "front_cell_after_turn": [
        -15,
        6
      ],
      "front_cell_status": "uncovered",
      "estimated_new_cells": 3,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    }
  },
  "stall_recovery": {
    "active": false,
    "current_frontier_distance": 1,
    "recommended_move": "MoveBack",
    "recommended_move_frontier_distance": 0,
    "recommended_move_estimated_new_cells": 6,
    "no_progress_threshold": 4
  },
  "cells_remaining": 196,
  "views": "map-v2+chase"
}
Provider status
{
  "provider_name": "openclaw",
  "model": "openclaw:agent-*",
  "healthy": true,
  "total_calls": 1,
  "successful_calls": 1,
  "failed_calls": 0,
  "retry_events": 0,
  "calls_with_retries": 0,
  "transient_errors": 0,
  "consecutive_failures": 0,
  "last_error": "",
  "last_error_kind": "",
  "last_call_duration_seconds": 51.094,
  "total_call_duration_seconds": 51.094,
  "total_retry_delay_seconds": 0.0,
  "max_transient_errors": null,
  "max_calls_with_retries": null,
  "max_consecutive_failures": null,
  "stop_reason": null
}
Step 1 — agent 1 — MoveAhead

Reasoning: Agent 0 is adjacent and has covered more cells. I need to move toward unexplored areas to maximize team coverage. MoveAhead offers the most new cells (4) and improves frontier distance, getting me closer to unexplored regions while avoiding overlap with Agent 0's coverage.

Prompt state
{
  "game": "coverage",
  "step": 1,
  "remaining_steps": 29,
  "current_agent": 1,
  "agents": {
    "0": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 1.5
      },
      "rotation": {
        "x": -0.0,
        "y": 90.0,
        "z": 0.0
      },
      "cells_covered": 27
    },
    "1": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 2.5
      },
      "rotation": {
        "x": -0.0,
        "y": 0.0,
        "z": 0.0
      },
      "cells_covered": 14
    }
  },
  "total_covered": 41,
  "coverage_pct": 17.5,
  "total_cells": 234,
  "target_pct": 95.0,
  "my_agent_id": 1,
  "available_actions": [
    "MoveAhead",
    "MoveBack",
    "MoveLeft",
    "MoveRight",
    "RotateLeft",
    "RotateRight"
  ],
  "no_progress_steps": 0,
  "last_attempted_action": null,
  "last_action_success": true,
  "visible_objects": [
    "Floor",
    "Sofa"
  ],
  "action_hints": {
    "MoveAhead": {
      "kind": "move",
      "target_cell": [
        -16,
        11
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 4,
      "nearest_uncovered_distance": 3,
      "improves_frontier_distance": true
    },
    "MoveBack": {
      "kind": "move",
      "target_cell": [
        -16,
        9
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 2,
      "nearest_uncovered_distance": 3,
      "improves_frontier_distance": true
    },
    "MoveLeft": {
      "kind": "move",
      "target_cell": [
        -17,
        10
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 2,
      "nearest_uncovered_distance": 3,
      "improves_frontier_distance": true
    },
    "MoveRight": {
      "kind": "move",
      "target_cell": [
        -15,
        10
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 3,
      "improves_frontier_distance": true
    },
    "RotateLeft": {
      "kind": "rotate",
      "facing_after_degrees": 270,
      "front_cell_after_turn": [
        -17,
        10
      ],
      "front_cell_status": "covered_by_agent_0",
      "estimated_new_cells": 4,
      "nearest_uncovered_distance": 4,
      "improves_frontier_distance": false
    },
    "RotateRight": {
      "kind": "rotate",
      "facing_after_degrees": 90,
      "front_cell_after_turn": [
        -15,
        10
      ],
      "front_cell_status": "covered_by_agent_0",
      "estimated_new_cells": 3,
      "nearest_uncovered_distance": 4,
      "improves_frontier_distance": false
    }
  },
  "stall_recovery": {
    "active": false,
    "current_frontier_distance": 4,
    "recommended_move": "MoveAhead",
    "recommended_move_frontier_distance": 3,
    "recommended_move_estimated_new_cells": 4,
    "no_progress_threshold": 4
  },
  "cells_remaining": 193,
  "views": "map-v2+chase"
}
Provider status
{
  "provider_name": "openclaw",
  "model": "openclaw:agent-*",
  "healthy": true,
  "total_calls": 2,
  "successful_calls": 2,
  "failed_calls": 0,
  "retry_events": 0,
  "calls_with_retries": 0,
  "transient_errors": 0,
  "consecutive_failures": 0,
  "last_error": "",
  "last_error_kind": "",
  "last_call_duration_seconds": 89.28,
  "total_call_duration_seconds": 140.374,
  "total_retry_delay_seconds": 0.0,
  "max_transient_errors": null,
  "max_calls_with_retries": null,
  "max_consecutive_failures": null,
  "stop_reason": null
}
Step 2 — agent 0 — MoveRight

Reasoning: I just rotated right and am now facing 180° (south). The action hints show that MoveRight from here would take me to an uncovered cell [-16, 5] with 6 estimated new cells and improves frontier distance. MoveBack would also go to an uncovered cell [-17, 6] with 6 new cells. Looking at the map, I'm at the top-left area (green triangle). I need to expand coverage. MoveRight takes me east toward the center of the room where there's more uncovered space. This aligns with the cooperative strategy - I should cover the western/left side while my teammate (agent 1 at z=2.75, more east) covers the right side. MoveRight is the best choice to expand into new territory.

Prompt state
{
  "game": "coverage",
  "step": 2,
  "remaining_steps": 28,
  "current_agent": 0,
  "agents": {
    "0": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 1.5
      },
      "rotation": {
        "x": -0.0,
        "y": 90.0,
        "z": 0.0
      },
      "cells_covered": 27
    },
    "1": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 2.75
      },
      "rotation": {
        "x": -0.0,
        "y": 0.0,
        "z": 0.0
      },
      "cells_covered": 18
    }
  },
  "total_covered": 45,
  "coverage_pct": 19.2,
  "total_cells": 234,
  "target_pct": 95.0,
  "my_agent_id": 0,
  "available_actions": [
    "MoveAhead",
    "MoveBack",
    "MoveLeft",
    "MoveRight",
    "RotateLeft",
    "RotateRight"
  ],
  "no_progress_steps": 0,
  "last_attempted_action": "RotateRight",
  "last_action_success": true,
  "visible_objects": [
    "Chair",
    "DiningTable",
    "Floor",
    "Newspaper",
    "Pen",
    "Pencil",
    "Sofa"
  ],
  "action_hints": {
    "MoveAhead": {
      "kind": "move",
      "target_cell": [
        -15,
        6
      ],
      "target_status": "covered_by_self",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "MoveBack": {
      "kind": "move",
      "target_cell": [
        -17,
        6
      ],
      "target_status": "uncovered",
      "estimated_new_cells": 6,
      "nearest_uncovered_distance": 0,
      "improves_frontier_distance": true
    },
    "MoveLeft": {
      "kind": "move",
      "target_cell": [
        -16,
        7
      ],
      "target_status": "covered_by_self",
      "estimated_new_cells": 4,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "MoveRight": {
      "kind": "move",
      "target_cell": [
        -16,
        5
      ],
      "target_status": "uncovered",
      "estimated_new_cells": 6,
      "nearest_uncovered_distance": 0,
      "improves_frontier_distance": true
    },
    "RotateLeft": {
      "kind": "rotate",
      "facing_after_degrees": 0,
      "front_cell_after_turn": [
        -16,
        7
      ],
      "front_cell_status": "covered_by_self",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "RotateRight": {
      "kind": "rotate",
      "facing_after_degrees": 180,
      "front_cell_after_turn": [
        -16,
        5
      ],
      "front_cell_status": "uncovered",
      "estimated_new_cells": 23,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    }
  },
  "stall_recovery": {
    "active": false,
    "current_frontier_distance": 1,
    "recommended_move": "MoveBack",
    "recommended_move_frontier_distance": 0,
    "recommended_move_estimated_new_cells": 6,
    "no_progress_threshold": 4
  },
  "cells_remaining": 189,
  "views": "map-v2+chase"
}
Provider status
{
  "provider_name": "openclaw",
  "model": "openclaw:agent-*",
  "healthy": true,
  "total_calls": 3,
  "successful_calls": 3,
  "failed_calls": 0,
  "retry_events": 1,
  "calls_with_retries": 0,
  "transient_errors": 1,
  "consecutive_failures": 0,
  "last_error": "Upstream read timeout after 180s (model=openclaw/agent-0) \u2014 raise via OPENCLAW_HTTP_TIMEOUT=<seconds>: timed out",
  "last_error_kind": "OpenClawUnavailable",
  "last_call_duration_seconds": 226.714,
  "total_call_duration_seconds": 367.088,
  "total_retry_delay_seconds": 2.0,
  "max_transient_errors": null,
  "max_calls_with_retries": null,
  "max_consecutive_failures": null,
  "stop_reason": null
}
Step 3 — agent 1 — RotateLeft

Reasoning: I'm agent-1 at position (-4.0, 2.75) facing north (0°). Agent-0 is at (-4.0, 1.25) facing east, having covered 33 cells to my 18. The map shows agent-0 (A) in the upper-left area and me (B) below. I need to avoid overlapping with agent-0's coverage and find uncovered areas. MoveAhead goes to [-16,12] which is covered by agent-0. MoveLeft goes to [-17,11] also covered by agent-0. MoveRight is blocked. Looking at the map-v2 overhead, I can see the green coverage area. I need to rotate to find a better direction toward uncovered space. RotateLeft would face me west (270°), with front cell [-17,11] covered by agent-0. RotateRight would face me east (90°), with front cell [-15,11] blocked. Since I'm currently facing north and the area ahead is covered by agent-0, I should rotate to explore a different direction. RotateLeft to face west seems better as it moves away from agent-0's position to the east of me.

Prompt state
{
  "game": "coverage",
  "step": 3,
  "remaining_steps": 27,
  "current_agent": 1,
  "agents": {
    "0": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 1.25
      },
      "rotation": {
        "x": -0.0,
        "y": 90.0,
        "z": 0.0
      },
      "cells_covered": 33
    },
    "1": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 2.75
      },
      "rotation": {
        "x": -0.0,
        "y": 0.0,
        "z": 0.0
      },
      "cells_covered": 18
    }
  },
  "total_covered": 51,
  "coverage_pct": 21.8,
  "total_cells": 234,
  "target_pct": 95.0,
  "my_agent_id": 1,
  "available_actions": [
    "MoveAhead",
    "MoveBack",
    "MoveLeft",
    "MoveRight",
    "RotateLeft",
    "RotateRight"
  ],
  "no_progress_steps": 0,
  "last_attempted_action": "MoveAhead",
  "last_action_success": true,
  "visible_objects": [
    "Floor",
    "Sofa"
  ],
  "action_hints": {
    "MoveAhead": {
      "kind": "move",
      "target_cell": [
        -16,
        12
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 7,
      "nearest_uncovered_distance": 2,
      "improves_frontier_distance": true
    },
    "MoveBack": {
      "kind": "move",
      "target_cell": [
        -16,
        10
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 4,
      "improves_frontier_distance": false
    },
    "MoveLeft": {
      "kind": "move",
      "target_cell": [
        -17,
        11
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 1,
      "nearest_uncovered_distance": 2,
      "improves_frontier_distance": true
    },
    "MoveRight": {
      "kind": "move",
      "target_cell": [
        -15,
        11
      ],
      "target_status": "blocked_unreachable",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": null,
      "improves_frontier_distance": false
    },
    "RotateLeft": {
      "kind": "rotate",
      "facing_after_degrees": 270,
      "front_cell_after_turn": [
        -17,
        11
      ],
      "front_cell_status": "covered_by_agent_0",
      "estimated_new_cells": 3,
      "nearest_uncovered_distance": 3,
      "improves_frontier_distance": false
    },
    "RotateRight": {
      "kind": "rotate",
      "facing_after_degrees": 90,
      "front_cell_after_turn": [
        -15,
        11
      ],
      "front_cell_status": "blocked_unreachable",
      "estimated_new_cells": 2,
      "nearest_uncovered_distance": 3,
      "improves_frontier_distance": false
    }
  },
  "stall_recovery": {
    "active": false,
    "current_frontier_distance": 3,
    "recommended_move": "MoveAhead",
    "recommended_move_frontier_distance": 2,
    "recommended_move_estimated_new_cells": 7,
    "no_progress_threshold": 4
  },
  "cells_remaining": 183,
  "views": "map-v2+chase"
}
Provider status
{
  "provider_name": "openclaw",
  "model": "openclaw:agent-*",
  "healthy": true,
  "total_calls": 4,
  "successful_calls": 4,
  "failed_calls": 0,
  "retry_events": 1,
  "calls_with_retries": 0,
  "transient_errors": 1,
  "consecutive_failures": 0,
  "last_error": "Upstream read timeout after 180s (model=openclaw/agent-0) \u2014 raise via OPENCLAW_HTTP_TIMEOUT=<seconds>: timed out",
  "last_error_kind": "OpenClawUnavailable",
  "last_call_duration_seconds": 54.466,
  "total_call_duration_seconds": 421.554,
  "total_retry_delay_seconds": 2.0,
  "max_transient_errors": null,
  "max_calls_with_retries": null,
  "max_consecutive_failures": null,
  "stop_reason": null
}
Step 4 — agent 0 — RotateRight

Reasoning: Agent-1 is positioned north of me at z=2.75 facing West. I'm at z=1.25 facing East. MoveRight goes south to uncovered cells (5 new), but RotateRight faces South toward a much larger unexplored frontier with 21 estimated new cells. Since coverage is only 23.1% with 26 steps left, I need to prioritize the largest uncovered regions. Rotating South opens access to the biggest unexplored area, which is also away from agent-1's position, avoiding overlap. This sacrifices an immediate move for much better long-term coverage.

Prompt state
{
  "game": "coverage",
  "step": 4,
  "remaining_steps": 26,
  "current_agent": 0,
  "agents": {
    "0": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 1.25
      },
      "rotation": {
        "x": -0.0,
        "y": 90.0,
        "z": 0.0
      },
      "cells_covered": 33
    },
    "1": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 2.75
      },
      "rotation": {
        "x": 0.0,
        "y": 270.0,
        "z": 0.0
      },
      "cells_covered": 21
    }
  },
  "total_covered": 54,
  "coverage_pct": 23.1,
  "total_cells": 234,
  "target_pct": 95.0,
  "my_agent_id": 0,
  "available_actions": [
    "MoveAhead",
    "MoveBack",
    "MoveLeft",
    "MoveRight",
    "RotateLeft",
    "RotateRight"
  ],
  "no_progress_steps": 0,
  "last_attempted_action": "MoveRight",
  "last_action_success": true,
  "visible_objects": [
    "Chair",
    "DiningTable",
    "Floor",
    "Newspaper",
    "Pen",
    "Pencil"
  ],
  "action_hints": {
    "MoveAhead": {
      "kind": "move",
      "target_cell": [
        -15,
        5
      ],
      "target_status": "covered_by_self",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "MoveBack": {
      "kind": "move",
      "target_cell": [
        -17,
        5
      ],
      "target_status": "uncovered",
      "estimated_new_cells": 5,
      "nearest_uncovered_distance": 0,
      "improves_frontier_distance": true
    },
    "MoveLeft": {
      "kind": "move",
      "target_cell": [
        -16,
        6
      ],
      "target_status": "covered_by_self",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "MoveRight": {
      "kind": "move",
      "target_cell": [
        -16,
        4
      ],
      "target_status": "uncovered",
      "estimated_new_cells": 5,
      "nearest_uncovered_distance": 0,
      "improves_frontier_distance": true
    },
    "RotateLeft": {
      "kind": "rotate",
      "facing_after_degrees": 0,
      "front_cell_after_turn": [
        -16,
        6
      ],
      "front_cell_status": "covered_by_self",
      "estimated_new_cells": 4,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "RotateRight": {
      "kind": "rotate",
      "facing_after_degrees": 180,
      "front_cell_after_turn": [
        -16,
        4
      ],
      "front_cell_status": "uncovered",
      "estimated_new_cells": 21,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    }
  },
  "stall_recovery": {
    "active": false,
    "current_frontier_distance": 1,
    "recommended_move": "MoveBack",
    "recommended_move_frontier_distance": 0,
    "recommended_move_estimated_new_cells": 5,
    "no_progress_threshold": 4
  },
  "cells_remaining": 180,
  "views": "map-v2+chase"
}
Provider status
{
  "provider_name": "openclaw",
  "model": "openclaw:agent-*",
  "healthy": true,
  "total_calls": 5,
  "successful_calls": 5,
  "failed_calls": 0,
  "retry_events": 1,
  "calls_with_retries": 0,
  "transient_errors": 1,
  "consecutive_failures": 0,
  "last_error": "Upstream read timeout after 180s (model=openclaw/agent-0) \u2014 raise via OPENCLAW_HTTP_TIMEOUT=<seconds>: timed out",
  "last_error_kind": "OpenClawUnavailable",
  "last_call_duration_seconds": 68.231,
  "total_call_duration_seconds": 489.785,
  "total_retry_delay_seconds": 2.0,
  "max_transient_errors": null,
  "max_calls_with_retries": null,
  "max_consecutive_failures": null,
  "stop_reason": null
}
Step 5 — agent 1 — RotateRight

Reasoning: I'm agent-1 at position (-4.0, 2.75), facing west (270°). Agent-0 is at (-4.0, 1.25) facing south (180°), covering the left side of the map. Looking at the map-v2 overhead: green areas are covered, dark areas are obstacles/walls, white is uncovered. The left side is mostly covered (green). I need to move toward uncovered areas on the right/east side of the map to maximize team coverage. Currently facing west (toward the covered area and agent-0). My available actions: MoveAhead goes to [-17,11] (covered by agent-0, 0 new cells). MoveLeft goes to [-16,10] (covered by agent-0 but 2 new cells). MoveRight goes to [-16,12] (covered by agent-0, 0 new cells). RotateLeft faces south (180°) with 9 estimated new cells but frontier distance doesn't improve. RotateRight faces east (0°) but 0 new cells. The best move to get toward uncovered territory on the right side is to first rotate to face east, then move. But RotateRight gives 0 new cells. However, RotateLeft gives 9 estimated new cells facing south - but that's toward agent-0's direction. Looking at the map, the large uncovered area appears to be on the right/east side. I should rotate to face east (RotateRight) so I can then move toward the uncovered right side. Actually, let me reconsider: RotateLeft faces south (180°) which is toward the bottom of the map where there may be uncovered space. The map shows the bottom-center and right side as white (uncovered). Facing south would let me move toward the bottom uncovered area. With 9 estimated new cells, RotateLeft seems promising. But I need to get to the right side eventually. Let me check: I'm at z=2.75, agent-0 is at z=1.25. The uncovered areas are to my east (right on map). Currently facing west. To go east, I need to RotateRight (to face east, 0°). But that gives 0 new cells immediately. Alternatively, MoveLeft goes to [-16,10] which gives 2 new cells and improves frontier distance. The stall recovery recommends MoveLeft. MoveLeft from facing 270° (west) would move me south (decreasing z to 2.25 area). That gets me 2 new cells and closer to frontier. But I really need to get to the right side of the map. Let me rotate to face east first. RotateRight to face 0° (east) - then I can move toward the large uncovered right side. Even though it gives 0 new cells now, it positions me correctly. Actually, looking more carefully at the hints: RotateLeft gives 9 new cells facing south. The bottom of the map likely has uncovered space. But agent-0 is already covering the left side and moving south. If I also go south, we overlap. Better to divide: I should head east to the right side. I'll RotateRight to face east, then move ahead toward uncovered territory.

Prompt state
{
  "game": "coverage",
  "step": 5,
  "remaining_steps": 25,
  "current_agent": 1,
  "agents": {
    "0": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 1.25
      },
      "rotation": {
        "x": -0.0,
        "y": 180.0,
        "z": 0.0
      },
      "cells_covered": 54
    },
    "1": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 2.75
      },
      "rotation": {
        "x": 0.0,
        "y": 270.0,
        "z": 0.0
      },
      "cells_covered": 21
    }
  },
  "total_covered": 75,
  "coverage_pct": 32.1,
  "total_cells": 234,
  "target_pct": 95.0,
  "my_agent_id": 1,
  "available_actions": [
    "MoveAhead",
    "MoveBack",
    "MoveLeft",
    "MoveRight",
    "RotateLeft",
    "RotateRight"
  ],
  "no_progress_steps": 0,
  "last_attempted_action": "RotateLeft",
  "last_action_success": true,
  "action_hints": {
    "MoveAhead": {
      "kind": "move",
      "target_cell": [
        -17,
        11
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 4,
      "improves_frontier_distance": true
    },
    "MoveBack": {
      "kind": "move",
      "target_cell": [
        -15,
        11
      ],
      "target_status": "blocked_unreachable",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": null,
      "improves_frontier_distance": false
    },
    "MoveLeft": {
      "kind": "move",
      "target_cell": [
        -16,
        10
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 2,
      "nearest_uncovered_distance": 4,
      "improves_frontier_distance": true
    },
    "MoveRight": {
      "kind": "move",
      "target_cell": [
        -16,
        12
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 6,
      "improves_frontier_distance": false
    },
    "RotateLeft": {
      "kind": "rotate",
      "facing_after_degrees": 180,
      "front_cell_after_turn": [
        -16,
        10
      ],
      "front_cell_status": "covered_by_agent_0",
      "estimated_new_cells": 9,
      "nearest_uncovered_distance": 5,
      "improves_frontier_distance": false
    },
    "RotateRight": {
      "kind": "rotate",
      "facing_after_degrees": 0,
      "front_cell_after_turn": [
        -16,
        12
      ],
      "front_cell_status": "covered_by_agent_0",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 5,
      "improves_frontier_distance": false
    }
  },
  "stall_recovery": {
    "active": false,
    "current_frontier_distance": 5,
    "recommended_move": "MoveLeft",
    "recommended_move_frontier_distance": 4,
    "recommended_move_estimated_new_cells": 2,
    "no_progress_threshold": 4
  },
  "cells_remaining": 159,
  "views": "map-v2+chase"
}
Provider status
{
  "provider_name": "openclaw",
  "model": "openclaw:agent-*",
  "healthy": true,
  "total_calls": 6,
  "successful_calls": 6,
  "failed_calls": 0,
  "retry_events": 1,
  "calls_with_retries": 0,
  "transient_errors": 1,
  "consecutive_failures": 0,
  "last_error": "Upstream read timeout after 180s (model=openclaw/agent-0) \u2014 raise via OPENCLAW_HTTP_TIMEOUT=<seconds>: timed out",
  "last_error_kind": "OpenClawUnavailable",
  "last_call_duration_seconds": 51.702,
  "total_call_duration_seconds": 541.487,
  "total_retry_delay_seconds": 2.0,
  "max_transient_errors": null,
  "max_calls_with_retries": null,
  "max_consecutive_failures": null,
  "stop_reason": null
}
Step 6 — agent 0 — MoveRight

Reasoning: I am agent-0 at position (-4.0, 1.25) facing South (180°). My teammate agent-1 is at (-4.0, 2.75) facing North (0°). I have covered 54 cells, teammate 21, total 75/234 (32.1%). I need to maximize coverage by moving toward uncovered areas. Looking at the action hints: MoveRight goes to cell [-17,5] which is uncovered, yields 3 new cells, and improves frontier distance to 0. RotateRight would face me toward [-17,5] (uncovered) with 11 estimated new cells but doesn't improve frontier distance. MoveRight is the recommended stall recovery move and directly moves into an uncovered cell with the best frontier improvement. Since I'm facing South and the right side is West, moving right takes me to an uncovered cell immediately. This is the best action to expand coverage.

Prompt state
{
  "game": "coverage",
  "step": 6,
  "remaining_steps": 24,
  "current_agent": 0,
  "agents": {
    "0": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 1.25
      },
      "rotation": {
        "x": -0.0,
        "y": 180.0,
        "z": 0.0
      },
      "cells_covered": 54
    },
    "1": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 2.75
      },
      "rotation": {
        "x": -0.0,
        "y": 0.0,
        "z": 0.0
      },
      "cells_covered": 21
    }
  },
  "total_covered": 75,
  "coverage_pct": 32.1,
  "total_cells": 234,
  "target_pct": 95.0,
  "my_agent_id": 0,
  "available_actions": [
    "MoveAhead",
    "MoveBack",
    "MoveLeft",
    "MoveRight",
    "RotateLeft",
    "RotateRight"
  ],
  "no_progress_steps": 1,
  "last_attempted_action": "RotateRight",
  "last_action_success": true,
  "visible_objects": [
    "GarbageCan"
  ],
  "action_hints": {
    "MoveAhead": {
      "kind": "move",
      "target_cell": [
        -16,
        4
      ],
      "target_status": "covered_by_self",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "MoveBack": {
      "kind": "move",
      "target_cell": [
        -16,
        6
      ],
      "target_status": "covered_by_self",
      "estimated_new_cells": 2,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "MoveLeft": {
      "kind": "move",
      "target_cell": [
        -15,
        5
      ],
      "target_status": "covered_by_self",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 2,
      "improves_frontier_distance": false
    },
    "MoveRight": {
      "kind": "move",
      "target_cell": [
        -17,
        5
      ],
      "target_status": "uncovered",
      "estimated_new_cells": 3,
      "nearest_uncovered_distance": 0,
      "improves_frontier_distance": true
    },
    "RotateLeft": {
      "kind": "rotate",
      "facing_after_degrees": 90,
      "front_cell_after_turn": [
        -15,
        5
      ],
      "front_cell_status": "covered_by_self",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "RotateRight": {
      "kind": "rotate",
      "facing_after_degrees": 270,
      "front_cell_after_turn": [
        -17,
        5
      ],
      "front_cell_status": "uncovered",
      "estimated_new_cells": 11,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    }
  },
  "stall_recovery": {
    "active": false,
    "current_frontier_distance": 1,
    "recommended_move": "MoveRight",
    "recommended_move_frontier_distance": 0,
    "recommended_move_estimated_new_cells": 3,
    "no_progress_threshold": 4
  },
  "cells_remaining": 159,
  "views": "map-v2+chase"
}
Provider status
{
  "provider_name": "openclaw",
  "model": "openclaw:agent-*",
  "healthy": true,
  "total_calls": 7,
  "successful_calls": 7,
  "failed_calls": 0,
  "retry_events": 1,
  "calls_with_retries": 0,
  "transient_errors": 1,
  "consecutive_failures": 0,
  "last_error": "Upstream read timeout after 180s (model=openclaw/agent-0) \u2014 raise via OPENCLAW_HTTP_TIMEOUT=<seconds>: timed out",
  "last_error_kind": "OpenClawUnavailable",
  "last_call_duration_seconds": 44.328,
  "total_call_duration_seconds": 585.815,
  "total_retry_delay_seconds": 2.0,
  "max_transient_errors": null,
  "max_calls_with_retries": null,
  "max_consecutive_failures": null,
  "stop_reason": null
}
Step 7 — agent 1 — RotateRight

Reasoning: I am agent-1 at position (-4.0, 2.75) facing north (0°). Agent-0 is at (-4.25, 1.25) facing south (180°), having covered 57 cells while I've only covered 21. The coverage is only 33.3% with 23 steps remaining. Looking at the map, the green area shows my coverage on the left side. Agent-0 has covered much of the left/west side. I need to move toward unexplored areas to the east/right side of the map. Currently facing north, MoveAhead goes to [-16,12] which is covered by agent_0. MoveRight is blocked. MoveLeft goes to [-17,11] covered by agent_0 but improves frontier distance. MoveBack goes to [-16,10] also covered by agent_0 but improves frontier distance. The stall recovery recommends MoveLeft. However, I need to get to the eastern side of the map. Rotating to face east (90°) would let me move toward the unexplored right side. RotateRight faces me east toward [-15,11] which is blocked. But this gets me oriented toward the eastern frontier. Let me rotate right to face east, then I can move eastward in subsequent steps toward the large unexplored area.

Prompt state
{
  "game": "coverage",
  "step": 7,
  "remaining_steps": 23,
  "current_agent": 1,
  "agents": {
    "0": {
      "position": {
        "x": -4.25,
        "y": 0.9026566743850708,
        "z": 1.25
      },
      "rotation": {
        "x": -0.0,
        "y": 180.0,
        "z": 0.0
      },
      "cells_covered": 57
    },
    "1": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 2.75
      },
      "rotation": {
        "x": -0.0,
        "y": 0.0,
        "z": 0.0
      },
      "cells_covered": 21
    }
  },
  "total_covered": 78,
  "coverage_pct": 33.3,
  "total_cells": 234,
  "target_pct": 95.0,
  "my_agent_id": 1,
  "available_actions": [
    "MoveAhead",
    "MoveBack",
    "MoveLeft",
    "MoveRight",
    "RotateLeft",
    "RotateRight"
  ],
  "no_progress_steps": 0,
  "last_attempted_action": "RotateRight",
  "last_action_success": true,
  "visible_objects": [
    "Floor",
    "Sofa"
  ],
  "action_hints": {
    "MoveAhead": {
      "kind": "move",
      "target_cell": [
        -16,
        12
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 7,
      "nearest_uncovered_distance": 6,
      "improves_frontier_distance": false
    },
    "MoveBack": {
      "kind": "move",
      "target_cell": [
        -16,
        10
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 4,
      "improves_frontier_distance": true
    },
    "MoveLeft": {
      "kind": "move",
      "target_cell": [
        -17,
        11
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 1,
      "nearest_uncovered_distance": 4,
      "improves_frontier_distance": true
    },
    "MoveRight": {
      "kind": "move",
      "target_cell": [
        -15,
        11
      ],
      "target_status": "blocked_unreachable",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": null,
      "improves_frontier_distance": false
    },
    "RotateLeft": {
      "kind": "rotate",
      "facing_after_degrees": 270,
      "front_cell_after_turn": [
        -17,
        11
      ],
      "front_cell_status": "covered_by_agent_0",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 5,
      "improves_frontier_distance": false
    },
    "RotateRight": {
      "kind": "rotate",
      "facing_after_degrees": 90,
      "front_cell_after_turn": [
        -15,
        11
      ],
      "front_cell_status": "blocked_unreachable",
      "estimated_new_cells": 2,
      "nearest_uncovered_distance": 5,
      "improves_frontier_distance": false
    }
  },
  "stall_recovery": {
    "active": false,
    "current_frontier_distance": 5,
    "recommended_move": "MoveLeft",
    "recommended_move_frontier_distance": 4,
    "recommended_move_estimated_new_cells": 1,
    "no_progress_threshold": 4
  },
  "cells_remaining": 156,
  "views": "map-v2+chase"
}
Provider status
{
  "provider_name": "openclaw",
  "model": "openclaw:agent-*",
  "healthy": true,
  "total_calls": 8,
  "successful_calls": 8,
  "failed_calls": 0,
  "retry_events": 1,
  "calls_with_retries": 0,
  "transient_errors": 1,
  "consecutive_failures": 0,
  "last_error": "Upstream read timeout after 180s (model=openclaw/agent-0) \u2014 raise via OPENCLAW_HTTP_TIMEOUT=<seconds>: timed out",
  "last_error_kind": "OpenClawUnavailable",
  "last_call_duration_seconds": 41.213,
  "total_call_duration_seconds": 627.029,
  "total_retry_delay_seconds": 2.0,
  "max_transient_errors": null,
  "max_calls_with_retries": null,
  "max_consecutive_failures": null,
  "stop_reason": null
}
Step 8 — agent 0 — MoveRight

Reasoning: Agent 1 is positioned to my upper right at (-4.0, 2.75). I should move away from agent 1 to divide coverage. MoveRight (West to [-18,5]) takes me to an uncovered cell with 3 new cells and improves frontier distance, while moving further left on the map away from agent 1's area. This aligns with the cooperative strategy of maximizing collective coverage by avoiding overlap.

Prompt state
{
  "game": "coverage",
  "step": 8,
  "remaining_steps": 22,
  "current_agent": 0,
  "agents": {
    "0": {
      "position": {
        "x": -4.25,
        "y": 0.9026566743850708,
        "z": 1.25
      },
      "rotation": {
        "x": -0.0,
        "y": 180.0,
        "z": 0.0
      },
      "cells_covered": 57
    },
    "1": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 2.75
      },
      "rotation": {
        "x": -0.0,
        "y": 90.0,
        "z": 0.0
      },
      "cells_covered": 23
    }
  },
  "total_covered": 80,
  "coverage_pct": 34.2,
  "total_cells": 234,
  "target_pct": 95.0,
  "my_agent_id": 0,
  "available_actions": [
    "MoveAhead",
    "MoveBack",
    "MoveLeft",
    "MoveRight",
    "RotateLeft",
    "RotateRight"
  ],
  "no_progress_steps": 0,
  "last_attempted_action": "MoveRight",
  "last_action_success": true,
  "visible_objects": [
    "GarbageCan"
  ],
  "action_hints": {
    "MoveAhead": {
      "kind": "move",
      "target_cell": [
        -17,
        4
      ],
      "target_status": "covered_by_self",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "MoveBack": {
      "kind": "move",
      "target_cell": [
        -17,
        6
      ],
      "target_status": "uncovered",
      "estimated_new_cells": 3,
      "nearest_uncovered_distance": 0,
      "improves_frontier_distance": true
    },
    "MoveLeft": {
      "kind": "move",
      "target_cell": [
        -16,
        5
      ],
      "target_status": "covered_by_self",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 2,
      "improves_frontier_distance": false
    },
    "MoveRight": {
      "kind": "move",
      "target_cell": [
        -18,
        5
      ],
      "target_status": "uncovered",
      "estimated_new_cells": 3,
      "nearest_uncovered_distance": 0,
      "improves_frontier_distance": true
    },
    "RotateLeft": {
      "kind": "rotate",
      "facing_after_degrees": 90,
      "front_cell_after_turn": [
        -16,
        5
      ],
      "front_cell_status": "covered_by_self",
      "estimated_new_cells": 1,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    },
    "RotateRight": {
      "kind": "rotate",
      "facing_after_degrees": 270,
      "front_cell_after_turn": [
        -18,
        5
      ],
      "front_cell_status": "uncovered",
      "estimated_new_cells": 6,
      "nearest_uncovered_distance": 1,
      "improves_frontier_distance": false
    }
  },
  "stall_recovery": {
    "active": false,
    "current_frontier_distance": 1,
    "recommended_move": "MoveBack",
    "recommended_move_frontier_distance": 0,
    "recommended_move_estimated_new_cells": 3,
    "no_progress_threshold": 4
  },
  "cells_remaining": 154,
  "views": "map-v2+chase"
}
Provider status
{
  "provider_name": "openclaw",
  "model": "openclaw:agent-*",
  "healthy": true,
  "total_calls": 9,
  "successful_calls": 9,
  "failed_calls": 0,
  "retry_events": 2,
  "calls_with_retries": 0,
  "transient_errors": 2,
  "consecutive_failures": 0,
  "last_error": "Upstream read timeout after 180s (model=openclaw/agent-0) \u2014 raise via OPENCLAW_HTTP_TIMEOUT=<seconds>: timed out",
  "last_error_kind": "OpenClawUnavailable",
  "last_call_duration_seconds": 291.572,
  "total_call_duration_seconds": 918.6,
  "total_retry_delay_seconds": 4.0,
  "max_transient_errors": null,
  "max_calls_with_retries": null,
  "max_consecutive_failures": null,
  "stop_reason": null
}
Step 9 — agent 1 — MoveBack

Reasoning: Agent 0 is covering the left/west area. I'm currently facing East with MoveAhead blocked. RotateRight offers 9 estimated new cells but would face me toward agent 0's area, potentially overlapping coverage. MoveBack is the stall recovery recommendation, improves frontier distance from 5 to 4, and yields 1 new cell while moving away from agent 0's current position. Following the stall recovery guidance to make progress toward uncovered areas.

Prompt state
{
  "game": "coverage",
  "step": 9,
  "remaining_steps": 21,
  "current_agent": 1,
  "agents": {
    "0": {
      "position": {
        "x": -4.5,
        "y": 0.9026566743850708,
        "z": 1.25
      },
      "rotation": {
        "x": -0.0,
        "y": 180.0,
        "z": 0.0
      },
      "cells_covered": 60
    },
    "1": {
      "position": {
        "x": -4.0,
        "y": 0.9026566743850708,
        "z": 2.75
      },
      "rotation": {
        "x": -0.0,
        "y": 90.0,
        "z": 0.0
      },
      "cells_covered": 23
    }
  },
  "total_covered": 83,
  "coverage_pct": 35.5,
  "total_cells": 234,
  "target_pct": 95.0,
  "my_agent_id": 1,
  "available_actions": [
    "MoveAhead",
    "MoveBack",
    "MoveLeft",
    "MoveRight",
    "RotateLeft",
    "RotateRight"
  ],
  "no_progress_steps": 0,
  "last_attempted_action": "RotateRight",
  "last_action_success": true,
  "visible_objects": [
    "Chair",
    "DiningTable",
    "Floor",
    "Sofa"
  ],
  "action_hints": {
    "MoveAhead": {
      "kind": "move",
      "target_cell": [
        -15,
        11
      ],
      "target_status": "blocked_unreachable",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": null,
      "improves_frontier_distance": false
    },
    "MoveBack": {
      "kind": "move",
      "target_cell": [
        -17,
        11
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 1,
      "nearest_uncovered_distance": 4,
      "improves_frontier_distance": true
    },
    "MoveLeft": {
      "kind": "move",
      "target_cell": [
        -16,
        12
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 6,
      "improves_frontier_distance": false
    },
    "MoveRight": {
      "kind": "move",
      "target_cell": [
        -16,
        10
      ],
      "target_status": "covered_by_agent_0",
      "estimated_new_cells": 1,
      "nearest_uncovered_distance": 4,
      "improves_frontier_distance": true
    },
    "RotateLeft": {
      "kind": "rotate",
      "facing_after_degrees": 0,
      "front_cell_after_turn": [
        -16,
        12
      ],
      "front_cell_status": "covered_by_agent_0",
      "estimated_new_cells": 0,
      "nearest_uncovered_distance": 5,
      "improves_frontier_distance": false
    },
    "RotateRight": {
      "kind": "rotate",
      "facing_after_degrees": 180,
      "front_cell_after_turn": [
        -16,
        10
      ],
      "front_cell_status": "covered_by_agent_0",
      "estimated_new_cells": 9,
      "nearest_uncovered_distance": 5,
      "improves_frontier_distance": false
    }
  },
  "stall_recovery": {
    "active": false,
    "current_frontier_distance": 5,
    "recommended_move": "MoveBack",
    "recommended_move_frontier_distance": 4,
    "recommended_move_estimated_new_cells": 1,
    "no_progress_threshold": 4
  },
  "cells_remaining": 151,
  "views": "map-v2+chase"
}
Provider status
{
  "provider_name": "openclaw",
  "model": "openclaw:agent-*",
  "healthy": true,
  "total_calls": 10,
  "successful_calls": 10,
  "failed_calls": 0,
  "retry_events": 3,
  "calls_with_retries": 0,
  "transient_errors": 3,
  "consecutive_failures": 0,
  "last_error": "Upstream read timeout after 180s (model=openclaw/agent-1) \u2014 raise via OPENCLAW_HTTP_TIMEOUT=<seconds>: timed out",
  "last_error_kind": "OpenClawUnavailable",
  "last_call_duration_seconds": 280.579,
  "total_call_duration_seconds": 1199.18,
  "total_retry_delay_seconds": 6.0,
  "max_transient_errors": null,
  "max_calls_with_retries": null,
  "max_consecutive_failures": null,
  "stop_reason": null
}