| { | |
| "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": 0.17, | |
| "is_expert": true | |
| } | |
| }, | |
| { | |
| "action": "put down the blue block", | |
| "observation": "the red block is clear, the blue block is clear, the hand is empty, the red block is on top of the orange block, the blue block is on the table and the orange block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.33, | |
| "is_expert": true | |
| } | |
| }, | |
| { | |
| "action": "unstack the red block from on top of the orange block", | |
| "observation": "the blue block is clear, the orange block is clear, the hand is currently holding red block, the blue block is on the table and the orange block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.5, | |
| "is_expert": true | |
| } | |
| }, | |
| { | |
| "action": "put down the red block", | |
| "observation": "the red block is clear, the blue block is clear, the orange block is clear, the hand is empty, the red block is on the table, the blue block is on the table and the orange block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.67, | |
| "is_expert": true | |
| } | |
| }, | |
| { | |
| "action": "pick up the orange block", | |
| "observation": "the red block is clear, the blue block is clear, the hand is currently holding orange block, the red block is on the table and the blue block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.83, | |
| "is_expert": true | |
| } | |
| }, | |
| { | |
| "action": "stack the orange block on top of the blue block", | |
| "observation": "the red block is clear, the orange block is clear, the hand is empty, the orange block is on top of the blue block, the red block is on the table and the blue block is on the table", | |
| "reward": { | |
| "raw": 1.0, | |
| "shaped": 1.0, | |
| "is_expert": true | |
| } | |
| } | |
| ] | |
| } |