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