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