| { | |
| "goal_description": "the orange block is on top of the red block", | |
| "trajectory": [ | |
| { | |
| "action": "unstack the red block from on top of the blue block", | |
| "observation": "the blue block is clear, the hand is currently holding red block, the blue 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 red block on top of the blue block", | |
| "observation": "the red block is clear, the hand is empty, the red block is on top of the blue block, the blue 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": "unstack the red block from on top of the blue block", | |
| "observation": "the blue block is clear, the hand is currently holding red block, the blue 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 red block on top of the blue block", | |
| "observation": "the red block is clear, the hand is empty, the red block is on top of the blue block, the blue 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": "unstack the red block from on top of the blue block", | |
| "observation": "the blue block is clear, the hand is currently holding red block, the blue 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 red block on top of the blue block", | |
| "observation": "the red block is clear, the hand is empty, the red block is on top of the blue block, the blue 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 | |
| } | |
| } | |
| ] | |
| } |