This can be done by SFrame itself not using Pandas. Just utilize 'unpack' function.
Pandas provides a variety of functions to handle dataset, but it is inconvenient to convert SFrame to Pandas DataFrame and vice versa.
If you handles over 10 Giga bytes data, Pandas can not properly handle the dataset. (But SFrame can)
# your SFrame
sf=sframe.SFrame({'a' : [2,0,1], 'b' : [[31,4,5],[1,9,],[2,84,]]})
# just use 'unpack()' function
sf2= sf.unpack('b')
# change the column names
sf2.rename({'b.0':'c', 'b.1':'d', 'b.2':'e'})
# filling-up the missing values to zero
sf2 = sf2['e'].fillna(0)
# merge the original SFrame and new SFrame
sf.join(sf2, 'a')