| { | |
| "goal_description": "the orange block is on top of the blue block", | |
| "trajectory": [ | |
| { | |
| "action": "unstack the blue block from on top of the red block", | |
| "observation": "the red block is clear, the hand is currently holding blue block, the red block is on top of the orange block and the orange block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.0, | |
| "is_expert": true | |
| } | |
| }, | |
| { | |
| "action": "stack the blue block on top of the red block", | |
| "observation": "the blue block is clear, the hand is empty, the red block is on top of the orange block, the blue block is on top of the red block and the orange block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.0, | |
| "is_expert": false | |
| } | |
| }, | |
| { | |
| "action": "unstack the blue block from on top of the red block", | |
| "observation": "the red block is clear, the hand is currently holding blue block, the red block is on top of the orange block and the orange block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.0, | |
| "is_expert": false | |
| } | |
| }, | |
| { | |
| "action": "stack the blue block on top of the red block", | |
| "observation": "the blue block is clear, the hand is empty, the red block is on top of the orange block, the blue block is on top of the red block and the orange block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.0, | |
| "is_expert": false | |
| } | |
| }, | |
| { | |
| "action": "unstack the blue block from on top of the red block", | |
| "observation": "the red block is clear, the hand is currently holding blue block, the red block is on top of the orange block and the orange block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.0, | |
| "is_expert": false | |
| } | |
| }, | |
| { | |
| "action": "stack the blue block on top of the red block", | |
| "observation": "the blue block is clear, the hand is empty, the red block is on top of the orange block, the blue block is on top of the red block and the orange block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.0, | |
| "is_expert": false | |
| } | |
| } | |
| ] | |
| } |