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meta/tasks.parquet

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task_variation_summary.json

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+  "tag_pools": {
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+      "Put the banana into the bowl at position 1 from the robot's left.",
+      "Place the banana into the leftmost bowl.",
+      "Put the banana into the bowl to the left of the red bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not red and not green.",
+      "Put the banana into the bowl that is neither red nor green.",
+      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 1.",
+      "Put the banana in the bowl that comes before the red one from the robot's perspective.",
+      "Place the banana in the leftmost bowl.",
+      "Place the banana in the left bowl."
+    ],
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+      "Put the banana into the 2nd bowl from the robot's left.",
+      "Put the banana into the bowl at position 2 from the robot's left.",
+      "Place the banana into the center bowl.",
+      "Put the banana into the bowl directly between the blue and green bowls from the robot's perspective.",
+      "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
+      "Put the banana into the bowl to the left of the green bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not blue and not green.",
+      "Put the banana into the bowl that is neither blue nor green.",
+      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 2.",
+      "Put the banana in the bowl that comes before the green one from the robot's perspective.",
+      "Put the banana in the bowl that comes after the blue one from the robot's perspective.",
+      "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
+      "Put the banana into the middle bowl."
+    ],
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+      "Put the banana into the 3rd bowl from the robot's left.",
+      "Put the banana into the bowl at position 3 from the robot's left.",
+      "Place the banana into the rightmost bowl.",
+      "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not blue and not red.",
+      "Put the banana into the bowl that is neither blue nor red.",
+      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 3.",
+      "Put the banana in the bowl that comes after the red one from the robot's perspective.",
+      "Place the banana in the rightmost bowl.",
+      "Place the banana in the right bowl."
+    ],
+    "RBG/R": [
+      "Put the banana into the 1st bowl from the robot's left.",
+      "Put the banana into the bowl at position 1 from the robot's left.",
+      "Place the banana into the leftmost bowl.",
+      "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not blue and not green.",
+      "Put the banana into the bowl that is neither blue nor green.",
+      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 1.",
+      "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
+      "Place the banana in the leftmost bowl.",
+      "Place the banana in the left bowl."
+    ],
+    "RBG/B": [
+      "Put the banana into the 2nd bowl from the robot's left.",
+      "Put the banana into the bowl at position 2 from the robot's left.",
+      "Place the banana into the center bowl.",
+      "Put the banana into the bowl directly between the red and green bowls from the robot's perspective.",
+      "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
+      "Put the banana into the bowl to the left of the green bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not red and not green.",
+      "Put the banana into the bowl that is neither red nor green.",
+      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 2.",
+      "Put the banana in the bowl that comes before the green one from the robot's perspective.",
+      "Put the banana in the bowl that comes after the red one from the robot's perspective.",
+      "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
+      "Put the banana into the middle bowl."
+    ],
+    "RBG/G": [
+      "Put the banana into the 3rd bowl from the robot's left.",
+      "Put the banana into the bowl at position 3 from the robot's left.",
+      "Place the banana into the rightmost bowl.",
+      "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not red and not blue.",
+      "Put the banana into the bowl that is neither red nor blue.",
+      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 3.",
+      "Put the banana in the bowl that comes after the blue one from the robot's perspective.",
+      "Place the banana in the rightmost bowl.",
+      "Place the banana in the right bowl."
+    ],
+    "BGR/B": [
+      "Put the banana into the 1st bowl from the robot's left.",
+      "Put the banana into the bowl at position 1 from the robot's left.",
+      "Place the banana into the leftmost bowl.",
+      "Put the banana into the bowl to the left of the green bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not green and not red.",
+      "Put the banana into the bowl that is neither green nor red.",
+      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 1.",
+      "Put the banana in the bowl that comes before the green one from the robot's perspective.",
+      "Place the banana in the leftmost bowl.",
+      "Place the banana in the left bowl."
+    ],
+    "BGR/G": [
+      "Put the banana into the 2nd bowl from the robot's left.",
+      "Put the banana into the bowl at position 2 from the robot's left.",
+      "Place the banana into the center bowl.",
+      "Put the banana into the bowl directly between the blue and red bowls from the robot's perspective.",
+      "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
+      "Put the banana into the bowl to the left of the red bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not blue and not red.",
+      "Put the banana into the bowl that is neither blue nor red.",
+      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 2.",
+      "Put the banana in the bowl that comes before the red one from the robot's perspective.",
+      "Put the banana in the bowl that comes after the blue one from the robot's perspective.",
+      "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
+      "Put the banana into the middle bowl."
+    ],
+    "BGR/R": [
+      "Put the banana into the 3rd bowl from the robot's left.",
+      "Put the banana into the bowl at position 3 from the robot's left.",
+      "Place the banana into the rightmost bowl.",
+      "Put the banana into the bowl to the right of the green bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not blue and not green.",
+      "Put the banana into the bowl that is neither blue nor green.",
+      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 3.",
+      "Put the banana in the bowl that comes after the green one from the robot's perspective.",
+      "Place the banana in the rightmost bowl.",
+      "Place the banana in the right bowl."
+    ],
+    "RGB/R": [
+      "Put the banana into the 1st bowl from the robot's left.",
+      "Put the banana into the bowl at position 1 from the robot's left.",
+      "Place the banana into the leftmost bowl.",
+      "Put the banana into the bowl to the left of the green bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not green and not blue.",
+      "Put the banana into the bowl that is neither green nor blue.",
+      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 1.",
+      "Put the banana in the bowl that comes before the green one from the robot's perspective.",
+      "Place the banana in the leftmost bowl.",
+      "Place the banana in the left bowl."
+    ],
+    "RGB/G": [
+      "Put the banana into the 2nd bowl from the robot's left.",
+      "Put the banana into the bowl at position 2 from the robot's left.",
+      "Place the banana into the center bowl.",
+      "Put the banana into the bowl directly between the red and blue bowls from the robot's perspective.",
+      "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
+      "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not red and not blue.",
+      "Put the banana into the bowl that is neither red nor blue.",
+      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 2.",
+      "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
+      "Put the banana in the bowl that comes after the red one from the robot's perspective.",
+      "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
+      "Put the banana into the middle bowl."
+    ],
+    "RGB/B": [
+      "Put the banana into the 3rd bowl from the robot's left.",
+      "Put the banana into the bowl at position 3 from the robot's left.",
+      "Place the banana into the rightmost bowl.",
+      "Put the banana into the bowl to the right of the green bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not red and not green.",
+      "Put the banana into the bowl that is neither red nor green.",
+      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 3.",
+      "Put the banana in the bowl that comes after the green one from the robot's perspective.",
+      "Place the banana in the rightmost bowl.",
+      "Place the banana in the right bowl."
+    ],
+    "GRB/G": [
+      "Put the banana into the 1st bowl from the robot's left.",
+      "Put the banana into the bowl at position 1 from the robot's left.",
+      "Place the banana into the leftmost bowl.",
+      "Put the banana into the bowl to the left of the red bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not red and not blue.",
+      "Put the banana into the bowl that is neither red nor blue.",
+      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 1.",
+      "Put the banana in the bowl that comes before the red one from the robot's perspective.",
+      "Place the banana in the leftmost bowl.",
+      "Place the banana in the left bowl."
+    ],
+    "GRB/R": [
+      "Put the banana into the 2nd bowl from the robot's left.",
+      "Put the banana into the bowl at position 2 from the robot's left.",
+      "Place the banana into the center bowl.",
+      "Put the banana into the bowl directly between the green and blue bowls from the robot's perspective.",
+      "Put the banana into the bowl to the right of the green bowl from the robot's perspective.",
+      "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not green and not blue.",
+      "Put the banana into the bowl that is neither green nor blue.",
+      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 2.",
+      "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
+      "Put the banana in the bowl that comes after the green one from the robot's perspective.",
+      "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
+      "Put the banana into the middle bowl."
+    ],
+    "GRB/B": [
+      "Put the banana into the 3rd bowl from the robot's left.",
+      "Put the banana into the bowl at position 3 from the robot's left.",
+      "Place the banana into the rightmost bowl.",
+      "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not green and not red.",
+      "Put the banana into the bowl that is neither green nor red.",
+      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 3.",
+      "Put the banana in the bowl that comes after the red one from the robot's perspective.",
+      "Place the banana in the rightmost bowl.",
+      "Place the banana in the right bowl."
+    ],
+    "GBR/G": [
+      "Put the banana into the 1st bowl from the robot's left.",
+      "Put the banana into the bowl at position 1 from the robot's left.",
+      "Place the banana into the leftmost bowl.",
+      "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not blue and not red.",
+      "Put the banana into the bowl that is neither blue nor red.",
+      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 1.",
+      "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
+      "Place the banana in the leftmost bowl.",
+      "Place the banana in the left bowl."
+    ],
+    "GBR/B": [
+      "Put the banana into the 2nd bowl from the robot's left.",
+      "Put the banana into the bowl at position 2 from the robot's left.",
+      "Place the banana into the center bowl.",
+      "Put the banana into the bowl directly between the green and red bowls from the robot's perspective.",
+      "Put the banana into the bowl to the right of the green bowl from the robot's perspective.",
+      "Put the banana into the bowl to the left of the red bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not green and not red.",
+      "Put the banana into the bowl that is neither green nor red.",
+      "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "Put the banana into the bowl that is 1 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 2.",
+      "Put the banana in the bowl that comes before the red one from the robot's perspective.",
+      "Put the banana in the bowl that comes after the green one from the robot's perspective.",
+      "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
+      "Put the banana into the middle bowl."
+    ],
+    "GBR/R": [
+      "Put the banana into the 3rd bowl from the robot's left.",
+      "Put the banana into the bowl at position 3 from the robot's left.",
+      "Place the banana into the rightmost bowl.",
+      "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
+      "Put the banana into the bowl that is not green and not blue.",
+      "Put the banana into the bowl that is neither green nor blue.",
+      "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
+      "Place the banana in the bowl whose position number from the robot's left equals 3.",
+      "Put the banana in the bowl that comes after the blue one from the robot's perspective.",
+      "Place the banana in the rightmost bowl.",
+      "Place the banana in the right bowl."
+    ]
+  },
+  "episode_assignments": [
+    {
+      "episode_index": 0,
+      "tag": "BRG/B",
+      "task": "Put the banana in the bowl that comes before the red one from the robot's perspective.",
+      "task_index": 13
+    },
+    {
+      "episode_index": 1,
+      "tag": "BRG/B",
+      "task": "Put the banana into the bowl at position 1 from the robot's left.",
+      "task_index": 17
+    },
+    {
+      "episode_index": 2,
+      "tag": "BRG/B",
+      "task": "Put the banana into the 1st bowl from the robot's left.",
+      "task_index": 14
+    },
+    {
+      "episode_index": 3,
+      "tag": "BRG/B",
+      "task": "Place the banana in the leftmost bowl.",
+      "task_index": 4
+    },
+    {
+      "episode_index": 4,
+      "tag": "BRG/B",
+      "task": "Put the banana into the bowl that is not red and not green.",
+      "task_index": 36
+    },
+    {
+      "episode_index": 5,
+      "tag": "BRG/B",
+      "task": "Put the banana into the bowl to the left of the red bowl from the robot's perspective.",
+      "task_index": 41
+    },
+    {
+      "episode_index": 6,
+      "tag": "BRG/R",
+      "task": "Put the banana into the bowl that is neither blue nor green.",
+      "task_index": 26
+    },
+    {
+      "episode_index": 7,
+      "tag": "BRG/R",
+      "task": "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
+      "task_index": 42
+    },
+    {
+      "episode_index": 8,
+      "tag": "BRG/R",
+      "task": "Put the banana into the bowl directly between the blue and green bowls from the robot's perspective.",
+      "task_index": 20
+    },
+    {
+      "episode_index": 9,
+      "tag": "BRG/R",
+      "task": "Place the banana into the center bowl.",
+      "task_index": 7
+    },
+    {
+      "episode_index": 10,
+      "tag": "BRG/R",
+      "task": "Put the banana in the bowl that comes after the blue one from the robot's perspective.",
+      "task_index": 9
+    },
+    {
+      "episode_index": 11,
+      "tag": "BRG/R",
+      "task": "Put the banana into the bowl at position 2 from the robot's left.",
+      "task_index": 18
+    },
+    {
+      "episode_index": 12,
+      "tag": "BRG/G",
+      "task": "Put the banana into the 3rd bowl from the robot's left.",
+      "task_index": 16
+    },
+    {
+      "episode_index": 13,
+      "tag": "BRG/G",
+      "task": "Put the banana into the bowl at position 3 from the robot's left.",
+      "task_index": 19
+    },
+    {
+      "episode_index": 14,
+      "tag": "BRG/G",
+      "task": "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
+      "task_index": 43
+    },
+    {
+      "episode_index": 15,
+      "tag": "BRG/G",
+      "task": "Put the banana into the bowl to the right of the red bowl from the robot's perspective.",
+      "task_index": 43
+    },
+    {
+      "episode_index": 16,
+      "tag": "BRG/G",
+      "task": "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
+      "task_index": 25
+    },
+    {
+      "episode_index": 17,
+      "tag": "BRG/G",
+      "task": "Place the banana in the bowl whose position number from the robot's left equals 3.",
+      "task_index": 2
+    },
+    {
+      "episode_index": 18,
+      "tag": "RBG/R",
+      "task": "Put the banana into the 1st bowl from the robot's left.",
+      "task_index": 14
+    },
+    {
+      "episode_index": 19,
+      "tag": "RBG/R",
+      "task": "Put the banana into the bowl that is 0 positions to the right of the leftmost bowl from the robot's perspective.",
+      "task_index": 23
+    },
+    {
+      "episode_index": 20,
+      "tag": "RBG/R",
+      "task": "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
+      "task_index": 39
+    },
+    {
+      "episode_index": 21,
+      "tag": "RBG/R",
+      "task": "Place the banana in the leftmost bowl.",
+      "task_index": 4
+    },
+    {
+      "episode_index": 22,
+      "tag": "RBG/R",
+      "task": "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
+      "task_index": 12
+    },
+    {
+      "episode_index": 23,
+      "tag": "RBG/R",
+      "task": "Place the banana in the leftmost bowl.",
+      "task_index": 4
+    },
+    {
+      "episode_index": 24,
+      "tag": "RBG/B",
+      "task": "Put the banana in the bowl that comes after the red one from the robot's perspective.",
+      "task_index": 11
+    },
+    {
+      "episode_index": 25,
+      "tag": "RBG/B",
+      "task": "Put the banana into the bowl that is neither red nor green.",
+      "task_index": 31
+    },
+    {
+      "episode_index": 26,
+      "tag": "RBG/B",
+      "task": "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
+      "task_index": 6
+    },
+    {
+      "episode_index": 27,
+      "tag": "RBG/B",
+      "task": "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "task_index": 38
+    },
+    {
+      "episode_index": 28,
+      "tag": "RBG/B",
+      "task": "Put the banana into the 2nd bowl from the robot's left.",
+      "task_index": 15
+    },
+    {
+      "episode_index": 29,
+      "tag": "RBG/B",
+      "task": "Put the banana into the bowl to the left of the green bowl from the robot's perspective.",
+      "task_index": 40
+    },
+    {
+      "episode_index": 30,
+      "tag": "RBG/G",
+      "task": "Place the banana in the rightmost bowl.",
+      "task_index": 5
+    },
+    {
+      "episode_index": 31,
+      "tag": "RBG/G",
+      "task": "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "task_index": 37
+    },
+    {
+      "episode_index": 32,
+      "tag": "RBG/G",
+      "task": "Put the banana into the bowl that is neither red nor blue.",
+      "task_index": 30
+    },
+    {
+      "episode_index": 33,
+      "tag": "RBG/G",
+      "task": "Put the banana into the bowl that is not red and not blue.",
+      "task_index": 35
+    },
+    {
+      "episode_index": 34,
+      "tag": "RBG/G",
+      "task": "Place the banana into the rightmost bowl.",
+      "task_index": 8
+    },
+    {
+      "episode_index": 35,
+      "tag": "RBG/G",
+      "task": "Put the banana into the bowl to the right of the blue bowl from the robot's perspective.",
+      "task_index": 42
+    },
+    {
+      "episode_index": 36,
+      "tag": "BGR/B",
+      "task": "Place the banana in the left bowl.",
+      "task_index": 3
+    },
+    {
+      "episode_index": 37,
+      "tag": "BGR/B",
+      "task": "Put the banana into the bowl that is neither green nor red.",
+      "task_index": 29
+    },
+    {
+      "episode_index": 38,
+      "tag": "BGR/B",
+      "task": "Put the banana into the bowl at position 1 from the robot's left.",
+      "task_index": 17
+    },
+    {
+      "episode_index": 39,
+      "tag": "BGR/B",
+      "task": "Put the banana into the bowl at position 1 from the robot's left.",
+      "task_index": 17
+    },
+    {
+      "episode_index": 40,
+      "tag": "BGR/B",
+      "task": "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "task_index": 38
+    },
+    {
+      "episode_index": 41,
+      "tag": "BGR/B",
+      "task": "Put the banana into the bowl at position 1 from the robot's left.",
+      "task_index": 17
+    },
+    {
+      "episode_index": 42,
+      "tag": "BGR/G",
+      "task": "Place the banana in the bowl whose position number from the robot's left equals 2.",
+      "task_index": 1
+    },
+    {
+      "episode_index": 43,
+      "tag": "BGR/G",
+      "task": "Place the banana in the bowl whose position number from the robot's left equals 2.",
+      "task_index": 1
+    },
+    {
+      "episode_index": 44,
+      "tag": "BGR/G",
+      "task": "Put the banana into the bowl that is not the rightmost one from the robot's perspective.",
+      "task_index": 38
+    },
+    {
+      "episode_index": 45,
+      "tag": "BGR/G",
+      "task": "Put the banana into the bowl at position 2 from the robot's left.",
+      "task_index": 18
+    },
+    {
+      "episode_index": 46,
+      "tag": "BGR/G",
+      "task": "Place the banana into the bowl that is one step to the left of the rightmost bowl from the robot's perspective.",
+      "task_index": 6
+    },
+    {
+      "episode_index": 47,
+      "tag": "BGR/G",
+      "task": "Put the banana into the bowl directly between the blue and red bowls from the robot's perspective.",
+      "task_index": 21
+    },
+    {
+      "episode_index": 48,
+      "tag": "BGR/R",
+      "task": "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "task_index": 37
+    },
+    {
+      "episode_index": 49,
+      "tag": "BGR/R",
+      "task": "Put the banana into the bowl at position 3 from the robot's left.",
+      "task_index": 19
+    },
+    {
+      "episode_index": 50,
+      "tag": "BGR/R",
+      "task": "Put the banana into the bowl that is 2 positions to the right of the leftmost bowl from the robot's perspective.",
+      "task_index": 25
+    },
+    {
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+      "tag": "BGR/R",
+      "task": "Put the banana into the bowl that is not blue and not green.",
+      "task_index": 32
+    },
+    {
+      "episode_index": 52,
+      "tag": "BGR/R",
+      "task": "Put the banana in the bowl that comes after the green one from the robot's perspective.",
+      "task_index": 10
+    },
+    {
+      "episode_index": 53,
+      "tag": "BGR/R",
+      "task": "Place the banana in the bowl whose position number from the robot's left equals 3.",
+      "task_index": 2
+    },
+    {
+      "episode_index": 54,
+      "tag": "RGB/R",
+      "task": "Put the banana into the bowl that is neither green nor blue.",
+      "task_index": 28
+    },
+    {
+      "episode_index": 55,
+      "tag": "RGB/R",
+      "task": "Place the banana in the bowl whose position number from the robot's left equals 1.",
+      "task_index": 0
+    },
+    {
+      "episode_index": 56,
+      "tag": "RGB/R",
+      "task": "Put the banana into the bowl to the left of the green bowl from the robot's perspective.",
+      "task_index": 40
+    },
+    {
+      "episode_index": 57,
+      "tag": "RGB/R",
+      "task": "Place the banana in the leftmost bowl.",
+      "task_index": 4
+    },
+    {
+      "episode_index": 58,
+      "tag": "RGB/R",
+      "task": "Put the banana into the bowl at position 1 from the robot's left.",
+      "task_index": 17
+    },
+    {
+      "episode_index": 59,
+      "tag": "RGB/R",
+      "task": "Put the banana into the 1st bowl from the robot's left.",
+      "task_index": 14
+    },
+    {
+      "episode_index": 60,
+      "tag": "RGB/G",
+      "task": "Put the banana into the bowl that is neither red nor blue.",
+      "task_index": 30
+    },
+    {
+      "episode_index": 61,
+      "tag": "RGB/G",
+      "task": "Put the banana into the bowl that is not the leftmost one from the robot's perspective.",
+      "task_index": 37
+    },
+    {
+      "episode_index": 62,
+      "tag": "RGB/G",
+      "task": "Place the banana into the center bowl.",
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+    },
+    {
+      "episode_index": 63,
+      "tag": "RGB/G",
+      "task": "Put the banana into the bowl that is neither red nor blue.",
+      "task_index": 30
+    },
+    {
+      "episode_index": 64,
+      "tag": "RGB/G",
+      "task": "Put the banana into the bowl directly between the red and blue bowls from the robot's perspective.",
+      "task_index": 22
+    },
+    {
+      "episode_index": 65,
+      "tag": "RGB/G",
+      "task": "Put the banana in the bowl that comes before the blue one from the robot's perspective.",
+      "task_index": 12
+    },
+    {
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+      "tag": "RGB/B",
+      "task": "Put the banana into the bowl that is not red and not green.",
+      "task_index": 36
+    },
+    {
+      "episode_index": 67,
+      "tag": "RGB/B",
+      "task": "Put the banana into the bowl that is not in the middle from the robot's perspective.",
+      "task_index": 34
+    },
+    {
+      "episode_index": 68,
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+      "task": "Put the banana in the bowl that comes after the green one from the robot's perspective.",
+      "task_index": 10
+    },
+    {
+      "episode_index": 69,
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+      "task": "Put the banana into the bowl that is neither red nor green.",
+      "task_index": 31
+    },
+    {
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+      "task": "Place the banana into the rightmost bowl.",
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+    },
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+      "tag": "RGB/B",
+      "task": "Put the banana into the bowl that is neither red nor green.",
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+    },
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+      "tag": "GRB/G",
+      "task": "Put the banana into the bowl that is neither red nor blue.",
+      "task_index": 30
+    },
+    {
+      "episode_index": 73,
+      "tag": "GRB/G",
+      "task": "Put the banana into the bowl to the left of the red bowl from the robot's perspective.",
+      "task_index": 41
+    },
+    {
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+      "tag": "GRB/G",
+      "task": "Put the banana in the bowl that comes before the red one from the robot's perspective.",
+      "task_index": 13
+    },
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+      "task_index": 35
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+      "task": "Put the banana in the bowl that comes before the red one from the robot's perspective.",
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+      "tag": "GRB/R",
+      "task": "Place the banana into the center bowl.",
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+      "tag": "GRB/R",
+      "task": "Put the banana into the bowl to the left of the blue bowl from the robot's perspective.",
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+    },
+    {
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+    },
+    {
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+      "task": "Put the banana into the bowl that is not green and not red.",
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