| { | |
| "goal_description": "the blue block is on top of the orange block and the yellow block is on top of the blue block", | |
| "trajectory": [ | |
| { | |
| "action": "pick up the yellow block", | |
| "observation": "the blue block is clear, the hand is currently holding yellow block, the blue block is on top of the orange block, the orange block is on top of the red block and the red block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.0, | |
| "is_expert": false | |
| } | |
| }, | |
| { | |
| "action": "put down the yellow block", | |
| "observation": "the blue block is clear, the yellow block is clear, the hand is empty, the blue block is on top of the orange block, the orange block is on top of the red block, the red block is on the table and the yellow block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.0, | |
| "is_expert": false | |
| } | |
| }, | |
| { | |
| "action": "pick up the yellow block", | |
| "observation": "the blue block is clear, the hand is currently holding yellow block, the blue block is on top of the orange block, the orange block is on top of the red block and the red block is on the table", | |
| "reward": { | |
| "raw": 0.0, | |
| "shaped": 0.5, | |
| "is_expert": true | |
| } | |
| }, | |
| { | |
| "action": "stack the yellow block on top of the blue block", | |
| "observation": "the yellow block is clear, the hand is empty, the blue block is on top of the orange block, the orange block is on top of the red block, the yellow block is on top of the blue block and the red block is on the table", | |
| "reward": { | |
| "raw": 1.0, | |
| "shaped": 1.0, | |
| "is_expert": true | |
| } | |
| } | |
| ] | |
| } |