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episodes/episode_000019/meta.json

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+{
+  "task": "Cruise_A",
+  "original_episode": "episode_9",
+  "num_steps": 17,
+  "num_meta_actions": 7,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move to hill",
+    "2_turn left 90 degrees",
+    "3_turn left 90 degrees",
+    "4_turn left 90 degrees",
+    "5_turn left 90 degrees",
+    "6_crossing_hill",
+    "7_move to boundary"
+  ]
+}

episodes/episode_000019/meta_instructions.txt

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+Walk forward to the sand pile in front, be careful not to bump into it.
+Turn left 90 degrees on the spot.
+Turn left 90 degrees on the spot.
+Turn left 90 degrees on the spot.
+Turn left 90 degrees
+Go around to the back of the sand piles from the right, and be careful not to touch the sand pile during the process.
+Move to the boundary of the sand table until you can no longer move forward.

episodes/episode_000040/meta.json

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+{
+  "task": "Cruise_C",
+  "original_episode": "episode_41",
+  "num_steps": 29,
+  "num_meta_actions": 4,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_turn_left_360_degrees",
+    "3_cross_hill",
+    "4_move_forward"
+  ]
+}

episodes/episode_000040/meta_instructions.txt

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+Move forward to the sand pile with wood and white cloth. being careful not to hit them.
+Rotate 360 degrees on the spot to the left and stay in place for about one second every 90 degrees
+Cross around the mound of wood and white cloth from the left side, and be careful not to touch the sand pile during the process
+Move forward to the location of the red marker object.

episodes/episode_000052/meta.json

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+{
+  "task": "Cruise_C",
+  "original_episode": "episode_53",
+  "num_steps": 19,
+  "num_meta_actions": 3,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_turn_right_360_degrees",
+    "2_cross_hill",
+    "3_move_forward"
+  ]
+}

episodes/episode_000052/meta_instructions.txt

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+Rotate 360 degrees on the spot to the right and stay in place for about one second every 90 degrees
+Cross around the mound with wood and white cloth from the right side
+Move forward to red marker object.

episodes/episode_000066/meta.json

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+{
+  "task": "sample",
+  "original_episode": "episode_16",
+  "num_steps": 225,
+  "num_meta_actions": 4,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_grasp_wood",
+    "3_move_to_container",
+    "4_place_wood_to_container"
+  ]
+}

episodes/episode_000066/meta_instructions.txt

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+Move forward to the front of the sampling point located at the center of the sand table,being careful not to bump into any obstacles.
+Grab the long piece of wood and lift it, being careful not to grip it too tightly or too loosely.
+Walk backward from the the sampling point,then turn right on the spot until the container is detected,then move to the container where the sample is placed.
+Move backwards and turn to the right to place the sample wood into the container,being careful not to place too fast or slowly.

episodes/episode_000099/meta.json

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+{
+  "task": "sample",
+  "original_episode": "episode_46",
+  "num_steps": 242,
+  "num_meta_actions": 4,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_grasp_bottle",
+    "3_move_to_container",
+    "4_place_bottle_to_container"
+  ]
+}

episodes/episode_000099/meta_instructions.txt

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+Move straight to the front of the sampling point located on the mound at the center of the sandbox, taking care not to bump into any obstacles.
+Grasp the bottle located at the mound. Then lift the bottle. Be careful not to grip too tightly or too loosely.
+Walk backward from the sampling point, then turn right in place, move forward,then turn left until the container is detected, then move to the container where the sample was placed.
+Place the bottle into the container, being careful not to put it in too fast or too slow.

episodes/episode_000123/meta.json

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+{
+  "task": "sample",
+  "original_episode": "episode_77",
+  "num_steps": 296,
+  "num_meta_actions": 4,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_grasp_wood",
+    "3_search_for_and_move_to_cyan_container",
+    "4_place_wood_to_cyan_container"
+  ]
+}

episodes/episode_000123/meta_instructions.txt

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+Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, taking care not to bump into any obstacles.
+Grasp the wooden block located at the flat hill. Then lift the wooden block. Be careful not to grip too tightly or too loosely.
+Turn left in place, go around the flat mound of sand until the cyan container is detected, then move to the cyan container.
+Place the wooden block into the cyan container and retract arm, being careful not to put it in too fast or too slow.

episodes/episode_000124/meta.json

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+{
+  "task": "sample",
+  "original_episode": "episode_78",
+  "num_steps": 232,
+  "num_meta_actions": 3,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_grasp_branch",
+    "3_search_for_and_move_to_cyan_container"
+  ]
+}

episodes/episode_000124/meta_instructions.txt

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+Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, taking care not to bump into any obstacles.
+Grasp the branch located at the flat hill. Then lift the branch. Be careful not to grip too tightly or too loosely.
+Turn left in place, go around the flat mound of sand until the cyan container is detected, then move to the cyan container.

episodes/episode_000128/actions.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9eafd243c1dcd977a72a894ae3ac97e56ec145e99a1b5f29a40a93a91bc3c8fa
+size 11528