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episodes/episode_000012/meta.json

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+{
+  "task": "Cruise_A",
+  "original_episode": "episode_20",
+  "num_steps": 26,
+  "num_meta_actions": 4,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_to_hill",
+    "2_turn_right_360_degrees",
+    "3_cross_hill",
+    "4_move_forward"
+  ]
+}

episodes/episode_000012/meta_instructions.txt

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+Move forward to the sand pile with wood and rocks, being careful not to hit the sand pile
+Rotate 360 degrees on the spot to the right and stay in place for about one second every 90 degrees
+Cross around the the sand pile with wood and rocks from the right side, Be careful not to hit the sand pile during the process.
+Move to the boundary of the sand table until you can no longer move forward

episodes/episode_000094/meta.json

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+{
+  "task": "sample",
+  "original_episode": "episode_41",
+  "num_steps": 268,
+  "num_meta_actions": 4,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_grasp_bottle",
+    "3_move_to_container",
+    "4_place_bottle_to_container"
+  ]
+}

episodes/episode_000094/meta_instructions.txt

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+Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, taking care not to bump into any obstacles.
+Grasp the bottle located at the flat hill. Then lift the bottle. Be careful not to grip too tightly or too loosely.
+Walk backward from the sampling point, then turn right in place, move forward,then turn left until the container is detected, then move to the container where the sample was placed.
+Place the bottle into the container, being careful not to put it in too fast or too slow.

episodes/episode_000135/actions.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:78492b0d27e51028e45fc8d48143449a142fb06d6b3120f31d950e93ed7dacdc
+size 17648

episodes/episode_000135/meta.json

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+{
+  "task": "sample",
+  "original_episode": "episode_88",
+  "num_steps": 292,
+  "num_meta_actions": 4,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_grasp_bottle",
+    "3_search_and_move_to_cyan_container",
+    "4_place_bottle_to_cyan_container"
+  ]
+}

episodes/episode_000135/meta_instructions.txt

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+Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, taking care not to bump into any obstacles.
+Grasp the bottle located at the flat hill. Then lift the bottle. Be careful not to grip too tightly or too loosely.
+Back up and go around on the right of the flat mound of sand, then move to the cyan container.
+Place the bottle into the cyan container, being careful not to put it in too fast or too slow.

episodes/episode_000135/meta_segments.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:190705831b59b483709201878846666bf56fd06b15ab47120ae06bd9a821067a
+size 160

episodes/episode_000135/states.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:62bc435584ad959512a57a3ecf0de121abe69c73cf4a51b8ed640a6d8cda1439
+size 17648

metadata.json

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+{
+  "total_episodes": 168,
+  "tasks": [
+    "Cruise_A",
+    "Cruise_B",
+    "Cruise_C",
+    "sample",
+    "Grasp",
+    "Place",
+    "Search_Move_Container"
+  ],
+  "sensor_config": {
+    "USE_PC": true,
+    "USE_DEPTH_1": true,
+    "num_points": 4096
+  }
+}