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