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# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 ## Robot End Effector Position 0.00 0.00 0.00 ## Robot End Effector Orientation 0.00 0.00 0.00 0.00 ## Robot Gripper Position 0.00 0.00 --- # Current Observation ## Object Position -0.11 0.21 0.89 0.00 0.00 0.79 0.61 0.00 -0.21 0.10 -0.60 0.80 -0.01 0.02 ## Robot End Effector Position -0.13 -0.00 0.99 ## Robot End Effector Orientation 1.00 -0.01 0.02 -0.00 ## Robot Gripper Position 0.02 -0.02 --- # Predicted Action
<|act1258|> <|act1193|> <|act1748|> <|act1874|> <|act1902|> <|act1510|> <|act1024|> <|act1209|> <|act1219|> <|act1650|> <|act1899|> <|act1891|> <|act1454|> <|act1024|> <|act1209|> <|act1250|> <|act1653|> <|act1903|> <|act1889|> <|act1472|> <|act1024|> <|act1198|> <|act1312|> <|act1670|> <|act1160|> <|act1188|> <|act1343|> <|act1024|> <|act1192|> <|act1348|> <|act1670|> <|act1153|> <|act1199|> <|act1333|> <|act1024|> <|act1191|> <|act1380|> <|act1661|> <|act1145|> <|act1212|> <|act1325|> <|act1024|> <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.89 0.00 0.00 0.79 0.61 0.00 -0.21 0.10 -0.60 0.80 -0.01 0.02 ## Robot End Effector Position -0.13 -0.00 0.99 ## Robot End Effector Orientation 1.00 -0.01 0.02 -0.00 ## Robot Gripper Position 0.02 -0.02 --- # Current Observation ## Object Position -0.11 0.21 0.88 -0.00 0.00 0.79 0.61 -0.00 -0.21 0.12 -0.61 0.80 -0.02 0.02 ## Robot End Effector Position -0.12 -0.00 0.99 ## Robot End Effector Orientation 1.00 -0.01 0.03 -0.00 ## Robot Gripper Position 0.02 -0.02 --- # Predicted Action
<|act1209|> <|act1219|> <|act1650|> <|act1899|> <|act1891|> <|act1454|> <|act1024|> <|act1209|> <|act1250|> <|act1653|> <|act1903|> <|act1889|> <|act1472|> <|act1024|> <|act1198|> <|act1312|> <|act1670|> <|act1160|> <|act1188|> <|act1343|> <|act1024|> <|act1192|> <|act1348|> <|act1670|> <|act1153|> <|act1199|> <|act1333|> <|act1024|> <|act1191|> <|act1380|> <|act1661|> <|act1145|> <|act1212|> <|act1325|> <|act1024|> <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.88 -0.00 0.00 0.79 0.61 -0.00 -0.21 0.12 -0.61 0.80 -0.02 0.02 ## Robot End Effector Position -0.12 -0.00 0.99 ## Robot End Effector Orientation 1.00 -0.01 0.03 -0.00 ## Robot Gripper Position 0.02 -0.02 --- # Current Observation ## Object Position -0.11 0.21 0.84 -0.00 0.00 0.79 0.61 -0.00 -0.21 0.15 -0.61 0.79 -0.02 0.02 ## Robot End Effector Position -0.12 0.00 0.99 ## Robot End Effector Orientation 1.00 -0.01 0.03 -0.00 ## Robot Gripper Position 0.02 -0.02 --- # Predicted Action
<|act1209|> <|act1250|> <|act1653|> <|act1903|> <|act1889|> <|act1472|> <|act1024|> <|act1198|> <|act1312|> <|act1670|> <|act1160|> <|act1188|> <|act1343|> <|act1024|> <|act1192|> <|act1348|> <|act1670|> <|act1153|> <|act1199|> <|act1333|> <|act1024|> <|act1191|> <|act1380|> <|act1661|> <|act1145|> <|act1212|> <|act1325|> <|act1024|> <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.84 -0.00 0.00 0.79 0.61 -0.00 -0.21 0.15 -0.61 0.79 -0.02 0.02 ## Robot End Effector Position -0.12 0.00 0.99 ## Robot End Effector Orientation 1.00 -0.01 0.03 -0.00 ## Robot Gripper Position 0.02 -0.02 --- # Current Observation ## Object Position -0.11 0.21 0.82 -0.00 0.00 0.79 0.61 -0.00 -0.20 0.17 -0.61 0.79 -0.02 0.01 ## Robot End Effector Position -0.12 0.01 0.99 ## Robot End Effector Orientation 1.00 -0.01 0.02 -0.00 ## Robot Gripper Position 0.03 -0.03 --- # Predicted Action
<|act1198|> <|act1312|> <|act1670|> <|act1160|> <|act1188|> <|act1343|> <|act1024|> <|act1192|> <|act1348|> <|act1670|> <|act1153|> <|act1199|> <|act1333|> <|act1024|> <|act1191|> <|act1380|> <|act1661|> <|act1145|> <|act1212|> <|act1325|> <|act1024|> <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.82 -0.00 0.00 0.79 0.61 -0.00 -0.20 0.17 -0.61 0.79 -0.02 0.01 ## Robot End Effector Position -0.12 0.01 0.99 ## Robot End Effector Orientation 1.00 -0.01 0.02 -0.00 ## Robot Gripper Position 0.03 -0.03 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.00 -0.19 0.16 -0.60 0.80 -0.02 0.01 ## Robot End Effector Position -0.13 0.02 0.99 ## Robot End Effector Orientation 1.00 -0.01 0.02 -0.01 ## Robot Gripper Position 0.03 -0.03 --- # Predicted Action
<|act1192|> <|act1348|> <|act1670|> <|act1153|> <|act1199|> <|act1333|> <|act1024|> <|act1191|> <|act1380|> <|act1661|> <|act1145|> <|act1212|> <|act1325|> <|act1024|> <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.00 -0.19 0.16 -0.60 0.80 -0.02 0.01 ## Robot End Effector Position -0.13 0.02 0.99 ## Robot End Effector Orientation 1.00 -0.01 0.02 -0.01 ## Robot Gripper Position 0.03 -0.03 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.00 -0.18 0.16 -0.60 0.80 -0.02 0.01 ## Robot End Effector Position -0.13 0.03 0.99 ## Robot End Effector Orientation 1.00 -0.02 0.02 -0.01 ## Robot Gripper Position 0.03 -0.03 --- # Predicted Action
<|act1191|> <|act1380|> <|act1661|> <|act1145|> <|act1212|> <|act1325|> <|act1024|> <|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.00 -0.18 0.16 -0.60 0.80 -0.02 0.01 ## Robot End Effector Position -0.13 0.03 0.99 ## Robot End Effector Orientation 1.00 -0.02 0.02 -0.01 ## Robot Gripper Position 0.03 -0.03 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.00 -0.17 0.16 -0.59 0.81 -0.02 0.00 ## Robot End Effector Position -0.13 0.04 0.98 ## Robot End Effector Orientation 1.00 -0.03 0.01 -0.02 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1193|> <|act1410|> <|act1652|> <|act1137|> <|act1225|> <|act1312|> <|act1024|> <|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.00 -0.17 0.16 -0.59 0.81 -0.02 0.00 ## Robot End Effector Position -0.13 0.04 0.98 ## Robot End Effector Orientation 1.00 -0.03 0.01 -0.02 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.00 -0.15 0.16 0.57 -0.82 0.02 0.00 ## Robot End Effector Position -0.14 0.05 0.98 ## Robot End Effector Orientation 1.00 -0.05 0.01 -0.02 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1191|> <|act1435|> <|act1601|> <|act1127|> <|act1237|> <|act1292|> <|act1024|> <|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.00 -0.15 0.16 0.57 -0.82 0.02 0.00 ## Robot End Effector Position -0.14 0.05 0.98 ## Robot End Effector Orientation 1.00 -0.05 0.01 -0.02 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.00 -0.14 0.16 0.56 -0.83 0.03 0.01 ## Robot End Effector Position -0.14 0.06 0.98 ## Robot End Effector Orientation 1.00 -0.07 0.01 -0.02 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1191|> <|act1450|> <|act1576|> <|act1118|> <|act1247|> <|act1277|> <|act1024|> <|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.00 -0.14 0.16 0.56 -0.83 0.03 0.01 ## Robot End Effector Position -0.14 0.06 0.98 ## Robot End Effector Orientation 1.00 -0.07 0.01 -0.02 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.01 -0.13 0.15 0.54 -0.84 0.03 0.01 ## Robot End Effector Position -0.14 0.07 0.97 ## Robot End Effector Orientation 1.00 -0.09 0.01 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1171|> <|act1477|> <|act1617|> <|act1112|> <|act1258|> <|act1280|> <|act1024|> <|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.01 -0.13 0.15 0.54 -0.84 0.03 0.01 ## Robot End Effector Position -0.14 0.07 0.97 ## Robot End Effector Orientation 1.00 -0.09 0.01 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.01 -0.12 0.15 0.52 -0.85 0.03 0.01 ## Robot End Effector Position -0.14 0.08 0.97 ## Robot End Effector Orientation 0.99 -0.11 0.01 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1169|> <|act1496|> <|act1631|> <|act1109|> <|act1267|> <|act1293|> <|act1024|> <|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.01 -0.12 0.15 0.52 -0.85 0.03 0.01 ## Robot End Effector Position -0.14 0.08 0.97 ## Robot End Effector Orientation 0.99 -0.11 0.01 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.01 -0.11 0.15 0.50 -0.86 0.03 0.01 ## Robot End Effector Position -0.14 0.09 0.97 ## Robot End Effector Orientation 0.99 -0.13 0.01 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1163|> <|act1519|> <|act1594|> <|act1104|> <|act1275|> <|act1294|> <|act1024|> <|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.01 -0.11 0.15 0.50 -0.86 0.03 0.01 ## Robot End Effector Position -0.14 0.09 0.97 ## Robot End Effector Orientation 0.99 -0.13 0.01 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.01 -0.10 0.15 0.48 -0.88 0.04 0.01 ## Robot End Effector Position -0.15 0.10 0.97 ## Robot End Effector Orientation 0.99 -0.15 0.01 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1174|> <|act1555|> <|act1592|> <|act1099|> <|act1284|> <|act1294|> <|act1024|> <|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.01 -0.10 0.15 0.48 -0.88 0.04 0.01 ## Robot End Effector Position -0.15 0.10 0.97 ## Robot End Effector Orientation 0.99 -0.15 0.01 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.00 -0.10 0.14 0.46 -0.89 0.04 0.01 ## Robot End Effector Position -0.15 0.11 0.96 ## Robot End Effector Orientation 0.98 -0.18 0.01 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1170|> <|act1607|> <|act1600|> <|act1095|> <|act1295|> <|act1290|> <|act1024|> <|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.00 -0.10 0.14 0.46 -0.89 0.04 0.01 ## Robot End Effector Position -0.15 0.11 0.96 ## Robot End Effector Orientation 0.98 -0.18 0.01 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.00 -0.09 0.14 0.44 -0.89 0.04 0.02 ## Robot End Effector Position -0.15 0.12 0.96 ## Robot End Effector Orientation 0.98 -0.20 0.01 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1173|> <|act1640|> <|act1600|> <|act1092|> <|act1306|> <|act1283|> <|act1024|> <|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 -0.00 -0.09 0.14 0.44 -0.89 0.04 0.02 ## Robot End Effector Position -0.15 0.12 0.96 ## Robot End Effector Orientation 0.98 -0.20 0.01 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.00 -0.08 0.14 0.43 -0.90 0.04 0.02 ## Robot End Effector Position -0.15 0.13 0.96 ## Robot End Effector Orientation 0.98 -0.22 0.01 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1179|> <|act1674|> <|act1567|> <|act1088|> <|act1316|> <|act1284|> <|act1024|> <|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.00 -0.08 0.14 0.43 -0.90 0.04 0.02 ## Robot End Effector Position -0.15 0.13 0.96 ## Robot End Effector Orientation 0.98 -0.22 0.01 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.00 -0.06 0.14 0.41 -0.91 0.05 0.02 ## Robot End Effector Position -0.15 0.14 0.96 ## Robot End Effector Orientation 0.97 -0.24 0.01 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1173|> <|act1694|> <|act1524|> <|act1082|> <|act1325|> <|act1288|> <|act1024|> <|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.00 -0.06 0.14 0.41 -0.91 0.05 0.02 ## Robot End Effector Position -0.15 0.14 0.96 ## Robot End Effector Orientation 0.97 -0.24 0.01 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.01 -0.06 0.13 0.39 -0.92 0.05 0.03 ## Robot End Effector Position -0.15 0.15 0.95 ## Robot End Effector Orientation 0.96 -0.26 0.01 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1178|> <|act1723|> <|act1513|> <|act1077|> <|act1334|> <|act1291|> <|act1024|> <|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.01 -0.06 0.13 0.39 -0.92 0.05 0.03 ## Robot End Effector Position -0.15 0.15 0.95 ## Robot End Effector Orientation 0.96 -0.26 0.01 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.01 -0.05 0.12 0.37 -0.93 0.05 0.03 ## Robot End Effector Position -0.15 0.16 0.95 ## Robot End Effector Orientation 0.96 -0.28 0.01 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1195|> <|act1728|> <|act1535|> <|act1074|> <|act1345|> <|act1293|> <|act1024|> <|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.01 -0.05 0.12 0.37 -0.93 0.05 0.03 ## Robot End Effector Position -0.15 0.16 0.95 ## Robot End Effector Orientation 0.96 -0.28 0.01 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.01 -0.04 0.12 0.35 -0.94 0.05 0.03 ## Robot End Effector Position -0.15 0.17 0.94 ## Robot End Effector Orientation 0.95 -0.30 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1200|> <|act1748|> <|act1515|> <|act1070|> <|act1356|> <|act1292|> <|act1024|> <|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.01 -0.04 0.12 0.35 -0.94 0.05 0.03 ## Robot End Effector Position -0.15 0.17 0.94 ## Robot End Effector Orientation 0.95 -0.30 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.01 -0.03 0.11 0.33 -0.94 0.05 0.03 ## Robot End Effector Position -0.15 0.18 0.94 ## Robot End Effector Orientation 0.95 -0.32 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1197|> <|act1740|> <|act1513|> <|act1068|> <|act1366|> <|act1289|> <|act1024|> <|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.01 -0.03 0.11 0.33 -0.94 0.05 0.03 ## Robot End Effector Position -0.15 0.18 0.94 ## Robot End Effector Orientation 0.95 -0.32 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.01 -0.03 0.11 0.30 -0.95 0.05 0.03 ## Robot End Effector Position -0.15 0.19 0.94 ## Robot End Effector Orientation 0.94 -0.34 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1169|> <|act1745|> <|act1518|> <|act1067|> <|act1373|> <|act1276|> <|act1024|> <|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.01 -0.03 0.11 0.30 -0.95 0.05 0.03 ## Robot End Effector Position -0.15 0.19 0.94 ## Robot End Effector Orientation 0.94 -0.34 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.02 -0.02 0.11 0.28 -0.96 0.05 0.03 ## Robot End Effector Position -0.15 0.20 0.94 ## Robot End Effector Orientation 0.93 -0.36 0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1166|> <|act1768|> <|act1466|> <|act1064|> <|act1378|> <|act1284|> <|act1024|> <|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.02 -0.02 0.11 0.28 -0.96 0.05 0.03 ## Robot End Effector Position -0.15 0.20 0.94 ## Robot End Effector Orientation 0.93 -0.36 0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.02 -0.02 0.10 0.26 -0.96 0.05 0.03 ## Robot End Effector Position -0.15 0.20 0.93 ## Robot End Effector Orientation 0.92 -0.38 0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1169|> <|act1799|> <|act1449|> <|act1061|> <|act1384|> <|act1297|> <|act1024|> <|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.02 -0.02 0.10 0.26 -0.96 0.05 0.03 ## Robot End Effector Position -0.15 0.20 0.93 ## Robot End Effector Orientation 0.92 -0.38 0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.03 -0.02 0.10 0.25 -0.97 0.04 0.03 ## Robot End Effector Position -0.15 0.21 0.93 ## Robot End Effector Orientation 0.92 -0.40 -0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1176|> <|act1768|> <|act1453|> <|act1057|> <|act1391|> <|act1308|> <|act1024|> <|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.03 -0.02 0.10 0.25 -0.97 0.04 0.03 ## Robot End Effector Position -0.15 0.21 0.93 ## Robot End Effector Orientation 0.92 -0.40 -0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.03 -0.02 0.10 0.23 -0.97 0.04 0.03 ## Robot End Effector Position -0.15 0.21 0.92 ## Robot End Effector Orientation 0.91 -0.41 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1179|> <|act1825|> <|act1435|> <|act1054|> <|act1398|> <|act1307|> <|act1024|> <|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.03 -0.02 0.10 0.23 -0.97 0.04 0.03 ## Robot End Effector Position -0.15 0.21 0.92 ## Robot End Effector Orientation 0.91 -0.41 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.03 -0.01 0.09 0.21 -0.98 0.04 0.03 ## Robot End Effector Position -0.15 0.22 0.92 ## Robot End Effector Orientation 0.90 -0.43 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1159|> <|act1795|> <|act1446|> <|act1054|> <|act1403|> <|act1307|> <|act1024|> <|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.03 -0.01 0.09 0.21 -0.98 0.04 0.03 ## Robot End Effector Position -0.15 0.22 0.92 ## Robot End Effector Orientation 0.90 -0.43 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.03 -0.01 0.09 0.20 -0.98 0.04 0.03 ## Robot End Effector Position -0.15 0.22 0.92 ## Robot End Effector Orientation 0.89 -0.44 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1166|> <|act1827|> <|act1442|> <|act1054|> <|act1408|> <|act1310|> <|act1024|> <|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.03 -0.01 0.09 0.20 -0.98 0.04 0.03 ## Robot End Effector Position -0.15 0.22 0.92 ## Robot End Effector Orientation 0.89 -0.44 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.04 -0.01 0.08 0.18 -0.98 0.04 0.03 ## Robot End Effector Position -0.15 0.23 0.91 ## Robot End Effector Orientation 0.89 -0.46 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1161|> <|act1827|> <|act1421|> <|act1054|> <|act1413|> <|act1306|> <|act1024|> <|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.04 -0.01 0.08 0.18 -0.98 0.04 0.03 ## Robot End Effector Position -0.15 0.23 0.91 ## Robot End Effector Orientation 0.89 -0.46 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.04 -0.01 0.08 0.17 -0.98 0.04 0.03 ## Robot End Effector Position -0.15 0.23 0.91 ## Robot End Effector Orientation 0.88 -0.47 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1172|> <|act1845|> <|act1416|> <|act1053|> <|act1419|> <|act1305|> <|act1024|> <|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.04 -0.01 0.08 0.17 -0.98 0.04 0.03 ## Robot End Effector Position -0.15 0.23 0.91 ## Robot End Effector Orientation 0.88 -0.47 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.05 -0.01 0.08 0.15 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.24 0.91 ## Robot End Effector Orientation 0.87 -0.48 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1159|> <|act1847|> <|act1388|> <|act1051|> <|act1424|> <|act1297|> <|act1024|> <|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.05 -0.01 0.08 0.15 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.24 0.91 ## Robot End Effector Orientation 0.87 -0.48 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.05 -0.01 0.08 0.14 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.24 0.91 ## Robot End Effector Orientation 0.87 -0.49 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1166|> <|act1858|> <|act1373|> <|act1049|> <|act1429|> <|act1294|> <|act1024|> <|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.05 -0.01 0.08 0.14 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.24 0.91 ## Robot End Effector Orientation 0.87 -0.49 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.05 -0.01 0.07 0.13 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.24 0.90 ## Robot End Effector Orientation 0.86 -0.51 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1165|> <|act1864|> <|act1367|> <|act1047|> <|act1434|> <|act1291|> <|act1024|> <|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.05 -0.01 0.07 0.13 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.24 0.90 ## Robot End Effector Orientation 0.86 -0.51 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.05 -0.01 0.07 0.12 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.24 0.90 ## Robot End Effector Orientation 0.86 -0.52 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1169|> <|act1872|> <|act1388|> <|act1047|> <|act1439|> <|act1290|> <|act1024|> <|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.05 -0.01 0.07 0.12 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.24 0.90 ## Robot End Effector Orientation 0.86 -0.52 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.05 -0.01 0.06 0.10 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.25 0.90 ## Robot End Effector Orientation 0.85 -0.53 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1160|> <|act1908|> <|act1353|> <|act1047|> <|act1443|> <|act1283|> <|act1024|> <|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.05 -0.01 0.06 0.10 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.25 0.90 ## Robot End Effector Orientation 0.85 -0.53 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.06 -0.01 0.06 0.09 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.25 0.89 ## Robot End Effector Orientation 0.84 -0.53 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1169|> <|act1893|> <|act1356|> <|act1046|> <|act1446|> <|act1277|> <|act1024|> <|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.06 -0.01 0.06 0.09 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.25 0.89 ## Robot End Effector Orientation 0.84 -0.53 -0.00 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.06 -0.01 0.06 0.08 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.25 0.89 ## Robot End Effector Orientation 0.84 -0.54 -0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1170|> <|act1917|> <|act1326|> <|act1045|> <|act1449|> <|act1272|> <|act1024|> <|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.06 -0.01 0.06 0.08 -0.99 0.04 0.03 ## Robot End Effector Position -0.16 0.25 0.89 ## Robot End Effector Orientation 0.84 -0.54 -0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.06 -0.01 0.05 0.07 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.26 0.89 ## Robot End Effector Orientation 0.83 -0.55 0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1187|> <|act1900|> <|act1336|> <|act1044|> <|act1453|> <|act1265|> <|act1024|> <|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.06 -0.01 0.05 0.07 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.26 0.89 ## Robot End Effector Orientation 0.83 -0.55 0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.06 -0.01 0.05 0.07 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.26 0.88 ## Robot End Effector Orientation 0.83 -0.56 0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1190|> <|act1922|> <|act1306|> <|act1043|> <|act1456|> <|act1259|> <|act1024|> <|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.06 -0.01 0.05 0.07 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.26 0.88 ## Robot End Effector Orientation 0.83 -0.56 0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.06 -0.01 0.05 0.06 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.26 0.88 ## Robot End Effector Orientation 0.82 -0.56 0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1189|> <|act1912|> <|act1325|> <|act1043|> <|act1459|> <|act1257|> <|act1024|> <|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.06 -0.01 0.05 0.06 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.26 0.88 ## Robot End Effector Orientation 0.82 -0.56 0.00 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.06 -0.01 0.04 0.05 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.26 0.88 ## Robot End Effector Orientation 0.82 -0.57 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1179|> <|act1928|> <|act1286|> <|act1042|> <|act1461|> <|act1252|> <|act1024|> <|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.06 -0.01 0.04 0.05 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.26 0.88 ## Robot End Effector Orientation 0.82 -0.57 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.04 0.04 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.27 0.87 ## Robot End Effector Orientation 0.82 -0.58 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1181|> <|act1933|> <|act1298|> <|act1042|> <|act1463|> <|act1250|> <|act1024|> <|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.04 0.04 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.27 0.87 ## Robot End Effector Orientation 0.82 -0.58 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.04 0.04 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.27 0.87 ## Robot End Effector Orientation 0.81 -0.58 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1175|> <|act1941|> <|act1301|> <|act1041|> <|act1466|> <|act1249|> <|act1024|> <|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.04 0.04 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.27 0.87 ## Robot End Effector Orientation 0.81 -0.58 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.04 0.03 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.27 0.87 ## Robot End Effector Orientation 0.81 -0.59 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1178|> <|act1946|> <|act1290|> <|act1041|> <|act1467|> <|act1248|> <|act1024|> <|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.04 0.03 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.27 0.87 ## Robot End Effector Orientation 0.81 -0.59 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.03 0.03 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.27 0.87 ## Robot End Effector Orientation 0.80 -0.59 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1177|> <|act1935|> <|act1285|> <|act1040|> <|act1469|> <|act1247|> <|act1024|> <|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.03 0.03 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.27 0.87 ## Robot End Effector Orientation 0.80 -0.59 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.03 0.02 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.27 0.87 ## Robot End Effector Orientation 0.80 -0.59 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1178|> <|act1935|> <|act1272|> <|act1040|> <|act1470|> <|act1246|> <|act1024|> <|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.03 0.02 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.27 0.87 ## Robot End Effector Orientation 0.80 -0.59 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.03 0.02 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.27 0.86 ## Robot End Effector Orientation 0.80 -0.60 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1186|> <|act1950|> <|act1232|> <|act1039|> <|act1472|> <|act1244|> <|act1024|> <|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.03 0.02 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.27 0.86 ## Robot End Effector Orientation 0.80 -0.60 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.03 0.01 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.28 0.86 ## Robot End Effector Orientation 0.80 -0.60 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1182|> <|act1933|> <|act1242|> <|act1038|> <|act1473|> <|act1241|> <|act1024|> <|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.03 0.01 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.28 0.86 ## Robot End Effector Orientation 0.80 -0.60 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.02 0.01 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.28 0.86 ## Robot End Effector Orientation 0.79 -0.60 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1181|> <|act1927|> <|act1235|> <|act1037|> <|act1473|> <|act1238|> <|act1024|> <|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.02 0.01 -1.00 0.05 0.03 ## Robot End Effector Position -0.15 0.28 0.86 ## Robot End Effector Orientation 0.79 -0.60 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.02 0.00 -1.00 0.05 0.02 ## Robot End Effector Position -0.15 0.28 0.85 ## Robot End Effector Orientation 0.79 -0.61 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1189|> <|act1936|> <|act1227|> <|act1037|> <|act1474|> <|act1234|> <|act1024|> <|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.02 0.00 -1.00 0.05 0.02 ## Robot End Effector Position -0.15 0.28 0.85 ## Robot End Effector Orientation 0.79 -0.61 0.01 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.02 0.00 -1.00 0.06 0.02 ## Robot End Effector Position -0.15 0.28 0.85 ## Robot End Effector Orientation 0.79 -0.61 0.02 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1188|> <|act1933|> <|act1220|> <|act1036|> <|act1475|> <|act1231|> <|act1024|> <|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.02 0.00 -1.00 0.06 0.02 ## Robot End Effector Position -0.15 0.28 0.85 ## Robot End Effector Orientation 0.79 -0.61 0.02 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.02 -0.00 -1.00 0.06 0.02 ## Robot End Effector Position -0.14 0.28 0.85 ## Robot End Effector Orientation 0.79 -0.61 0.02 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1191|> <|act1932|> <|act1220|> <|act1035|> <|act1475|> <|act1224|> <|act1024|> <|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.02 -0.00 -1.00 0.06 0.02 ## Robot End Effector Position -0.14 0.28 0.85 ## Robot End Effector Orientation 0.79 -0.61 0.02 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.00 -1.00 0.06 0.02 ## Robot End Effector Position -0.14 0.27 0.85 ## Robot End Effector Orientation 0.79 -0.61 0.02 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1197|> <|act1927|> <|act1200|> <|act1035|> <|act1476|> <|act1220|> <|act1024|> <|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.00 -1.00 0.06 0.02 ## Robot End Effector Position -0.14 0.27 0.85 ## Robot End Effector Orientation 0.79 -0.61 0.02 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.01 -1.00 0.06 0.02 ## Robot End Effector Position -0.14 0.27 0.84 ## Robot End Effector Orientation 0.79 -0.61 0.02 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1199|> <|act1932|> <|act1225|> <|act1034|> <|act1476|> <|act1218|> <|act1024|> <|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.01 -1.00 0.06 0.02 ## Robot End Effector Position -0.14 0.27 0.84 ## Robot End Effector Orientation 0.79 -0.61 0.02 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.27 0.84 ## Robot End Effector Orientation 0.79 -0.62 0.03 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1204|> <|act1921|> <|act1201|> <|act1034|> <|act1477|> <|act1218|> <|act1024|> <|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.27 0.84 ## Robot End Effector Orientation 0.79 -0.62 0.03 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.27 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1196|> <|act1931|> <|act1218|> <|act1034|> <|act1477|> <|act1216|> <|act1024|> <|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.27 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.27 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1206|> <|act1940|> <|act1170|> <|act1034|> <|act1478|> <|act1212|> <|act1024|> <|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.27 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.27 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1199|> <|act1949|> <|act1201|> <|act1034|> <|act1478|> <|act1210|> <|act1024|> <|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.27 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.28 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1209|> <|act1962|> <|act1167|> <|act1033|> <|act1479|> <|act1209|> <|act1024|> <|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.28 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.06 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.28 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1200|> <|act1958|> <|act1189|> <|act1033|> <|act1479|> <|act1212|> <|act1024|> <|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.28 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.28 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1191|> <|act1944|> <|act1158|> <|act1033|> <|act1479|> <|act1218|> <|act1024|> <|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.28 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.28 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1195|> <|act1951|> <|act1175|> <|act1032|> <|act1480|> <|act1221|> <|act1024|> <|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.28 0.84 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.28 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1179|> <|act1938|> <|act1155|> <|act1031|> <|act1480|> <|act1225|> <|act1024|> <|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.06 0.01 ## Robot End Effector Position -0.14 0.28 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.05 0.01 ## Robot End Effector Position -0.14 0.28 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1190|> <|act1949|> <|act1168|> <|act1031|> <|act1481|> <|act1229|> <|act1024|> <|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.05 0.01 ## Robot End Effector Position -0.14 0.28 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.05 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.05 0.00 ## Robot End Effector Position -0.14 0.28 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1180|> <|act1946|> <|act1152|> <|act1030|> <|act1482|> <|act1233|> <|act1024|> <|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.05 0.00 ## Robot End Effector Position -0.14 0.28 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.05 0.00 ## Robot End Effector Position -0.14 0.28 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1185|> <|act1948|> <|act1158|> <|act1029|> <|act1483|> <|act1235|> <|act1024|> <|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.01 -1.00 0.05 0.00 ## Robot End Effector Position -0.14 0.28 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.02 -1.00 0.05 0.00 ## Robot End Effector Position -0.14 0.28 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1178|> <|act1950|> <|act1152|> <|act1028|> <|act1483|> <|act1236|> <|act1024|> <|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.02 -1.00 0.05 0.00 ## Robot End Effector Position -0.14 0.28 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.02 -1.00 0.05 0.00 ## Robot End Effector Position -0.14 0.28 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1188|> <|act1950|> <|act1153|> <|act2044|> <|act1587|> <|act1581|> <|act1024|> <|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 -0.02 -1.00 0.05 0.00 ## Robot End Effector Position -0.14 0.28 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 0.02 1.00 -0.05 0.00 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1180|> <|act1954|> <|act1141|> <|act2044|> <|act1585|> <|act1582|> <|act1024|> <|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 0.02 1.00 -0.05 0.00 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.78 -0.62 0.03 -0.04 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 0.02 1.00 -0.04 0.00 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.78 -0.63 0.03 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1190|> <|act1955|> <|act1151|> <|act2043|> <|act1584|> <|act1579|> <|act1024|> <|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 0.02 1.00 -0.04 0.00 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.78 -0.63 0.03 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 0.02 1.00 -0.04 0.00 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.78 -0.63 0.03 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1189|> <|act1942|> <|act1166|> <|act2042|> <|act1583|> <|act1576|> <|act1024|> <|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> <|act1199|> <|act1949|> <|act1222|> <|act2038|> <|act1575|> <|act1571|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 0.02 1.00 -0.04 0.00 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.78 -0.63 0.03 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 0.02 1.00 -0.04 0.01 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.78 -0.63 0.03 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1192|> <|act1948|> <|act1162|> <|act2042|> <|act1582|> <|act1574|> <|act1024|> <|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> <|act1199|> <|act1949|> <|act1222|> <|act2038|> <|act1575|> <|act1571|> <|act1024|> <|act1186|> <|act1945|> <|act1222|> <|act2039|> <|act1574|> <|act1573|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.00 0.02 1.00 -0.04 0.01 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.78 -0.63 0.03 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 0.02 1.00 -0.04 0.01 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.78 -0.63 0.03 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1205|> <|act1944|> <|act1180|> <|act2041|> <|act1580|> <|act1577|> <|act1024|> <|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> <|act1199|> <|act1949|> <|act1222|> <|act2038|> <|act1575|> <|act1571|> <|act1024|> <|act1186|> <|act1945|> <|act1222|> <|act2039|> <|act1574|> <|act1573|> <|act1024|> <|act1191|> <|act1956|> <|act1202|> <|act2039|> <|act1573|> <|act1576|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 0.02 1.00 -0.04 0.01 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.78 -0.63 0.03 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 0.03 1.00 -0.04 0.01 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.77 -0.63 0.03 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1202|> <|act1946|> <|act1182|> <|act2040|> <|act1579|> <|act1574|> <|act1024|> <|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> <|act1199|> <|act1949|> <|act1222|> <|act2038|> <|act1575|> <|act1571|> <|act1024|> <|act1186|> <|act1945|> <|act1222|> <|act2039|> <|act1574|> <|act1573|> <|act1024|> <|act1191|> <|act1956|> <|act1202|> <|act2039|> <|act1573|> <|act1576|> <|act1024|> <|act1182|> <|act1959|> <|act1191|> <|act2039|> <|act1572|> <|act1581|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 0.03 1.00 -0.04 0.01 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.77 -0.63 0.03 -0.03 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 0.03 1.00 -0.04 0.01 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.77 -0.63 0.04 -0.02 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1194|> <|act1942|> <|act1193|> <|act2039|> <|act1578|> <|act1572|> <|act1024|> <|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> <|act1199|> <|act1949|> <|act1222|> <|act2038|> <|act1575|> <|act1571|> <|act1024|> <|act1186|> <|act1945|> <|act1222|> <|act2039|> <|act1574|> <|act1573|> <|act1024|> <|act1191|> <|act1956|> <|act1202|> <|act2039|> <|act1573|> <|act1576|> <|act1024|> <|act1182|> <|act1959|> <|act1191|> <|act2039|> <|act1572|> <|act1581|> <|act1024|> <|act1187|> <|act1962|> <|act1166|> <|act2038|> <|act1570|> <|act1587|> <|act1024|>
# Task The agent is solving a pick and place task in a simulated environment. Given the previous and current observations, predict the action that the agent should take. The object the agent is supposed to manipulate is a relitively flat square with a square-shaped region cut out of the center and a rectangular handle sticking out of one side. You are controlling a Panda robot arm with 7 DOF and a parallel gripper. ## Observation Space The observation space is broken into four subspaces. - **Object Pose**: The pose of the square-shaped object. - **Robot End Effector Position**: The x, y, z coordinates of the robot's end effector. - **Robot End Effector Orientation**: A quaternion representing the current orientation of the robot's end - **Robot Gripper Position**: A single number representing whether the gripper is open (1), closed (-1), or something in between. ## Action Space Actions in this environment consist of seven numbers. - The first three are target x, y, z coordinates of the end effector - The next three numbers are an axis angle representation of the target orientation of the end effector. - The last number indicates whether to open or close the gripper. --- # Previous Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 0.03 1.00 -0.04 0.01 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.77 -0.63 0.04 -0.02 ## Robot Gripper Position 0.04 -0.04 --- # Current Observation ## Object Position -0.11 0.21 0.83 -0.00 0.00 0.79 0.61 0.07 -0.01 0.01 0.03 1.00 -0.04 0.02 ## Robot End Effector Position -0.14 0.27 0.83 ## Robot End Effector Orientation 0.77 -0.64 0.04 -0.02 ## Robot Gripper Position 0.04 -0.04 --- # Predicted Action
<|act1199|> <|act1938|> <|act1196|> <|act2039|> <|act1577|> <|act1572|> <|act1024|> <|act1190|> <|act1939|> <|act1218|> <|act2038|> <|act1576|> <|act1571|> <|act1024|> <|act1199|> <|act1949|> <|act1222|> <|act2038|> <|act1575|> <|act1571|> <|act1024|> <|act1186|> <|act1945|> <|act1222|> <|act2039|> <|act1574|> <|act1573|> <|act1024|> <|act1191|> <|act1956|> <|act1202|> <|act2039|> <|act1573|> <|act1576|> <|act1024|> <|act1182|> <|act1959|> <|act1191|> <|act2039|> <|act1572|> <|act1581|> <|act1024|> <|act1187|> <|act1962|> <|act1166|> <|act2038|> <|act1570|> <|act1587|> <|act1024|> <|act1177|> <|act1954|> <|act1141|> <|act2038|> <|act1569|> <|act1596|> <|act1024|>
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